CN110497387A - The artificial skeleton and muscle framework and its design method of a kind of bionical anthropomorphic robot - Google Patents
The artificial skeleton and muscle framework and its design method of a kind of bionical anthropomorphic robot Download PDFInfo
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- CN110497387A CN110497387A CN201910803621.6A CN201910803621A CN110497387A CN 110497387 A CN110497387 A CN 110497387A CN 201910803621 A CN201910803621 A CN 201910803621A CN 110497387 A CN110497387 A CN 110497387A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Abstract
The present invention provides the artificial skeleton and muscle framework and its design method of a kind of bionical anthropomorphic robot.The artificial skeleton and muscle framework include artificial skeleton, artificial joint and artificial muscle.The described method comprises the following steps: skeleton and existing anthropomorphic robot structure with reference first to normal human subject choose wherein crucial bone to form the artificial skeleton of bionical anthropomorphic robot；Secondly according to the artificial skeleton of design, each artificial joint of bionical anthropomorphic robot is set；According to the artificial skeleton of construction and the motion requirement of anthropomorphic robot, the corresponding freedom degree of each artificial joint of bionical anthropomorphic robot is configured；Configure position and the function of the artificial muscle of bionical anthropomorphic robot.According to the structure for designing artificial skelecton, artificial joint and artificial muscle the characteristics of bionical anthropomorphic robot, it is assembled into the artificial skeleton and muscle framework of robot.The present invention makes anthropomorphic robot more personalize using human skeletal and muscle as benchmark.
Description
Technical field
The invention belongs to anthropomorphic robot field, in particular to the artificial skeleton and muscle frame of a kind of bionical anthropomorphic robot
Structure and its design method.
Background technique
Bio-robot refers to mimic biology, is engaged in the robot of biological characteristic work.Bio-robot is machine human hair
The advanced stage of exhibition, biological characteristic provide many beneficial references for the design of robot, allow robot from biology
Learn such as adaptivity, robustness, motion versatility and a series of good performances of activity on body.
Anthropomorphic robot has the resemblance of the mankind, and has and move, perceive to a certain degree, operating, learning, associating note
Recall, the functions such as emotion communication.Anthropomorphic robot by with people it is approximate in the form of occur, be easy received by the mankind.Anthropomorphic robot
With biped system, possess rough ground walking, across obstacle, stair activity Potential feasibility, it is easier to adapt to people
The living and working environment of class.Object can also be grabbed with arm, transport goods, help mankind end tea to pour, carry out some letters
Single labour.A large amount of anthropomorphic robot is had been developed for both at home and abroad at present, " ASIMO2011 " machine issued such as Honda
People, " Atlas " robot of Boston power publication, " remittance child 5 " robot of Beijing Institute of Technology's exploitation.But existing people
Anthropomorphic robot is true to nature not enough in shape, and in structure and human body gap is larger, has the characteristics that apparent machine, and use
Rigid driving method, movement is not enough naturally, mechanical sense is very strong.
It is theoretical that the design of anthropomorphic robot should comply with terrified paddy.Terrified paddy theory be one about the mankind to robot and
The hypothesis of the feeling of inhuman type objects." terrified paddy " word is to describe the mankind to the robot to specific degrees similar with them
Rejection.And " paddy " just refers in the relational graph of research " likability is to similarity ", before similarity closes on 100%,
Likability falls, rise to that segment limit good opinion before horizontal to disliking suddenly.Terrified paddy is exactly as robot reaches " close to people
When the similarity of class ", mankind's likability drops to the range of dislike suddenly.
According to terrified paddy effect, if bionical anthropomorphic robot is not true to nature enough, the mankind can be allowed to generate serious rejection feeling, because
This can not be dissolved into the daily life of the mankind.Therefore bionical anthropomorphic robot must all exactly like people in appearance and in the action
Class.
Summary of the invention
It is an object of the invention to overcome deficiencies of the prior art, design a similar with real human body imitative
Stranger's anthropomorphic robot makes skeleton and artificial muscle.Present invention combination human skeleton figure and general robot architecture figure, select people
Crucial bone in class skeleton forms machine human skeleton, is arranged for connecting artificial skelecton and controlling the artificial pass of bone rotation
Section；According to the motion requirement of machine human skeleton and anthropomorphic robot, the freedom degree in each joint is respectively configured.It is drawn using artificial muscle
Dynamic artificial skelecton, makes bone carry out the rotation of different directions around artificial joint, so that robot be allow to complete different move
Make.
The purpose of the present invention is realized at least through one of following technical solution.
A kind of artificial skeleton and muscle framework of bionical anthropomorphic robot, including artificial skeleton, artificial joint and artificial
Muscle；The artificial joint is used to connect the bone in artificial skeleton, and the artificial muscle is used to pull the movement of artificial skelecton,
The freedom degree for cooperating artificial joint setting, so that robot be made to make different movements.
Further, the artificial skeleton is divided into head, trunk, both arms, four parts of both legs；Wherein both arms and both legs are
Symmetrical along frame center, robot, unilateral arm and leg is spliced by multiple bones respectively；
The leg bone of robot unilateral side has 3 bulks: thigh, focile and sufficient bone；Wherein, the corresponding human body of thigh
Bone is femur, the corresponding skeleton of focile is shin bone and radius, the corresponding skeleton of sufficient bone are sufficient bone；
The arm bone of robot unilateral side has 3 bulks: upper arm bone, focile and hand bone；The wherein corresponding human body of upper arm bone
Bone is humerus, the corresponding skeleton of focile is ulna and thigh bone, the corresponding skeleton of hand bone are hand bone；
Robot head includes the skull of a monolith；The trunk of robot is also made of a monolith bone.
Further, a total of 24 artificial joints；Wherein, robot, leg, unilateral side includes three joints: hip joint, knee
Joint, ankle-joint；Robot unilateral side arm includes three joints: shoulder joint, elbow joint, wrist joint；Robot head and trunk
Between there are a neck joints；It include a waist joint i.e. between upper limb and lower limb at the trunk of robot；Robot unilateral side
Palm includes 5 articulations digitorum manus.
Further, each joint acts on as follows accordingly:
Hip joint is for connecting thigh and trunk, and the lift for controlling thigh is put and side-to-side movement；
For knee joint for connecting thigh and focile, movement is put in the lift for controlling shank；
Ankle-joint is for connecting focile and sufficient bone, and the lift for controlling foot is put and side-to-side movement；
Shoulder joint is for connecting upper arm bone and trunk, and the lift for controlling upper arm is put and side-to-side movement；
For elbow joint for connecting upper arm bone and focile, movement is put in the lift for controlling forearm；
For wrist joint for connecting focile and hand bone, movement is put in the lift for controlling palm；
Waist joint is used to be connected to the trunk and lower limb of robot, controls the left-right rotation of robot trunk；
Neck joint is for connecting robot skull and trunk, and the lift for controlling head is put and side-to-side movement；
Articulations digitorum manus controls the opening and closing of hand for connecting robot finger and palm.
Further, the freedom degree of joint of robot represents the degree of flexibility in joint；The joint of bionical anthropomorphic robot
Rotary joint is used, freedom degree represents joint can be around the quantity of the rotary shaft of rotation；The freedom in each joint
Degree indicates with Eulerian angles, including deflection, pitching and three kinds of roll；Wherein, there are two freedom degrees for neck joint, can control head
Pitching and deflection；Waist joint has one degree of freedom, can control the deflection of upper limb；Articulations digitorum manus has one degree of freedom, can control
The pitching of finger processed；
The leg of anthropomorphic robot includes 2 kinds of freedom degree configuration designs, makes robot in walking with different degrees of
Flexibility, concrete configuration are as follows:
Leg configuration 1: hip joint has two freedom degrees of pitching and roll, knee joint to have pitching one degree of freedom, ankle-joint
There are two freedom degrees of pitching and roll；
Leg configuration 2: hip joint has pitching, deflection and roll three degree of freedom, knee joint to have pitching one degree of freedom, ankle
There are two freedom degrees of pitching and roll in joint；
The arm of anthropomorphic robot may include 3 kinds of freedom degree configuration designs, and arm is allow to reach difference when opening
Pose, concrete configuration is as follows:
Arm configuration 1: shoulder joint has two freedom degrees of pitching and roll, elbow joint to have pitching one degree of freedom, wrist joint
There is no freedom degree；
Arm configuration 2: shoulder joint has two freedom degrees of pitching and roll, elbow joint to have pitching one degree of freedom, wrist joint
There is deflection one degree of freedom；
Arm configuration 3: shoulder joint has two freedom degrees of pitching and roll, elbow joint to have pitching one degree of freedom, wrist joint
There are two freedom degrees of pitching and deflection.
Further, the artificial muscle is used to pull the movement of robot artificial skelecton, so that robot be made to make not
Same movement；Every artificial muscle all has the ability of contraction and stretching；Every two artificial muscles form one group, connect two pieces of phases
Adjacent artificial skelecton；When a contraction of muscle, the rotation in joint is realized in an in addition stretching, the two cooperation；Each group of muscle
The one degree of freedom that joint may be implemented, according to the muscle of the different groups of numbers of configuration of the freedom degree in joint；According to each artificial joint
Corresponding freedom degree show that neck joint needs two groups of muscle, and waist joint needs one group of muscle, and hip joint needs two groups or three groups
Muscle, knee joint need one group of muscle, and ankle-joint needs two groups of muscle, and shoulder joint needs two groups of muscle, and elbow joint needs one group
Muscle, wrist joint do not need muscle or need one group or two groups of muscle, and articulations digitorum manus needs one group of muscle；Each group of muscle has
The function of rotating joint along corresponding Euler angular direction；Under the pulling function of artificial muscle, artificial skelecton is around artificial
Joint rotation, so that anthropomorphic robot be made to make different movements.
A kind of artificial skeleton and muscle architecture design method of bionical anthropomorphic robot, include the following steps:
S1, the skeleton with reference first to normal human subject and existing anthropomorphic robot structure are chosen wherein crucial bone and are come
Form the artificial skeleton of bionical anthropomorphic robot；
S2, secondly according to the artificial skeleton of design, bionical people is arranged in and function and position referring to the joint of normal human subject
Each artificial joint of anthropomorphic robot；
S3, according to the artificial skeleton of construction and the motion requirement of anthropomorphic robot, it is each artificial to configure bionical anthropomorphic robot
The corresponding freedom degree in joint；
S4, in conjunction with normal human's muscle distribution and bionical anthropomorphic robot skeleton, configure the artificial of bionical anthropomorphic robot
The position of muscle and function；
S5, according to the characteristics of bionical anthropomorphic robot design artificial skelecton, artificial joint and artificial muscle structure, assembling
At the artificial skeleton and muscle framework of robot.
Further, the step S5 is specifically included:
In step S1, S2, S3 and S4, determined respectively constitute anthropomorphic robot required for bone, joint and
Muscle, they are all with human body for reference to selection；But structoure of the human body and anthropomorphic robot be not identical, these bones, joint
It cannot directly cover with the structure of muscle on anthropomorphic robot；Therefore it needs to carry out according to the characteristics of anthropomorphic robot to artificial
Bone, joint and muscle are carried out simplifying processing and be combined.
Compared with the existing technology, the present invention has the advantage that and effect:
1. being constructed based on human skeleton and muscle bionical humanoid present invention incorporates human skeleton and robot architecture
The skeleton of robot keeps robot even more like with the mankind in appearance.
2. the artificial joint in the present invention using the structure and function of human joint as reference, has higher flexible rotation
Degree, robot can reach more poses, improve the naturality and motion range of robot motion.And use artificial muscle
Meat drives the motion mode of artificial skelecton, is more nearly with human motion mode, mechanical when anthropomorphic robot can be overcome to move
Feel the disadvantages of strong, stiff in the movements, robot is made, also close to the mankind, to further avoid terrified paddy effect in movement.
Detailed description of the invention
Fig. 1 is general anthropomorphic robot structure chart.
Fig. 2 is the bone distribution schematic diagram of the bionical anthropomorphic robot of the embodiment of the present invention.
Fig. 3 is the schematic diagram of the joint freedom degrees in the embodiment of the present invention.
Fig. 4 is the general joint schematic diagram of robot in the embodiment of the present invention.
Fig. 5 is the robot lower limb muscle front schematic view in the embodiment of the present invention.
Fig. 6 is the robot lower limb muscle reverse side schematic diagram in the embodiment of the present invention.
Fig. 7 is the robot muscle of upper extremity front schematic view in the embodiment of the present invention.
Fig. 8 is the robot muscle of upper extremity reverse side schematic diagram in the embodiment of the present invention.
Fig. 9 is the constitutional diagram of robot artificial skelecton in the embodiment of the present invention, artificial joint and artificial muscle.
Figure 10 is the overall structure figure of the right leg of robot in the embodiment of the present invention.
Wherein, thigh 1；Focile 2；Sufficient bone 3；Skull 4；Upper arm bone 5；Focile 6；Hand bone 7；Trunk 8；Deflection
(Yaw)9；Roll (Roll) 10；Pitching (Pitch) 11；Shoulder joint 12；Elbow joint 13；Wrist joint 14；Articulations digitorum manus 15；Neck joint
16；Waist joint 17；Hip joint 18；Knee joint 19；Ankle-joint 20；Pyriformis 21；Iliopsoas 22；Rectus femoris 23；Tibialis anterior 24；
Musculus peroneus brevis 25；Long adductor muscle 26；Gluteus maximus 27；Biceps muscle of thigh 28；Heel string 29；Tibialis posterior 30；Sternohyoideus 31；Supraspinatus
32；Deltoid muscle 33；Coracobrachilalis 34；Brachialis 35；Musculus palmaris longus 36；Musculus extensor carpi ulnaris 37；Refer to musculus flexor 38；Extensor muscle of fingers 39；Splenius muscle of neck 40；
Teres minor 41；Stylohyoid muscle 42；Anconeus 43；Musculus obliquus externus abdominis 44；Artificial muscle 45；Artificial joint 46；Artificial skelecton 47.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
The specific implementation of invention is described in detail.
Embodiment:
A kind of artificial skeleton and muscle framework of bionical anthropomorphic robot, including artificial skeleton, artificial joint and artificial
Muscle；The artificial joint is used to connect the bone in artificial skeleton, and the artificial muscle is used to pull the movement of artificial skelecton,
The freedom degree for cooperating artificial joint setting, so that robot be made to make different movements.
Further, as shown in Fig. 2, artificial skeleton is divided into head, trunk, both arms, four parts of both legs.Both arms and both legs
It is that symmetrical along frame center, robot, unilateral arm and leg are spliced by multiple bones respectively.
The leg bone of robot unilateral side has 3 bulks: thigh 1, focile 2 and sufficient bone 3；Wherein, thigh 1 is corresponding
Skeleton is femur, the corresponding skeleton of focile 2 is shin bone and radius, the sufficient corresponding skeleton of bone 3 are sufficient bone；
The arm bone of robot unilateral side has 3 bulks: upper arm bone 5, focile 6 and hand bone 7；Wherein upper arm bone 5 is corresponding
Skeleton is humerus, the corresponding skeleton of focile 6 is ulna and thigh bone, the corresponding skeleton of hand bone 7 are hand bone；
Robot head is the skull 4 of a monolith, and the trunk 8 of robot is also made of a monolith bone, rather than as people
Class is spliced by several bones like that.
Further, a total of 24 joints of artificial skeleton, distribution are as shown in Figure 4.Every leg of robot includes 3 passes
Section: hip joint 18, knee joint 19, ankle-joint 20.Every arm includes 3 joints: shoulder joint 12, elbow joint 13, wrist joint 14.
Head includes a neck joint 16.Trunk includes a waist joint 17.Each palm includes 5 articulations digitorum manus 15.Each joint connects
The bone and effect connect is all different.
Further, each joint acts on as follows accordingly:
Hip joint is for connecting thigh and trunk, and the lift for controlling thigh is put and side-to-side movement；
For knee joint for connecting thigh and focile, movement is put in the lift for controlling shank；
Ankle-joint is for connecting focile and sufficient bone, and the lift for controlling foot is put and side-to-side movement；
Shoulder joint is for connecting upper arm bone and trunk, and the lift for controlling upper arm is put and side-to-side movement；
For elbow joint for connecting upper arm bone and focile, movement is put in the lift for controlling forearm；
For wrist joint for connecting focile and hand bone, movement is put in the lift for controlling palm；
Waist joint is used to be connected to the trunk and lower limb of robot, controls the left-right rotation of robot trunk；
Neck joint is for connecting robot skull and trunk, and the lift for controlling head is put and side-to-side movement；
Articulations digitorum manus controls the opening and closing of hand for connecting robot finger and palm.
Further, the freedom degree of joint of robot represents the degree of flexibility in joint；The joint of bionical anthropomorphic robot
Rotary joint is used, freedom degree represents joint can be around the quantity of the rotary shaft of rotation；The freedom in each joint
Degree indicates with Eulerian angles, as shown in figure 3, include deflection 9, pitching 11 and 10 3 kinds of roll；Wherein, there are two certainly for neck joint 16
By spending, the pitching and deflection on head can control；Waist joint 17 has one degree of freedom, can control the deflection of upper limb；Articulations digitorum manus
15 have one degree of freedom, can control the pitching of finger；
The leg of anthropomorphic robot includes 2 kinds of freedom degree configuration designs, makes robot in walking with different degrees of
Flexibility, concrete configuration are as follows:
Leg configuration 1: hip joint 18 has 10 two freedom degrees of pitching 11 and roll, knee joint 19 to have 11 1 freedom of pitching
Degree, ankle-joint 20 have 10 two freedom degrees of pitching 11 and roll；
Leg configuration 2: hip joint 18 has pitching 11, deflection 9 and 10 three degree of freedom of roll, knee joint 19 to have pitching 11 1
A freedom degree, ankle-joint 20 have 10 two freedom degrees of pitching 11 and roll；
The arm of anthropomorphic robot may include 3 kinds of freedom degree configuration designs, and arm is allow to reach difference when opening
Pose, concrete configuration is as follows:
Arm configuration 1: shoulder joint 12 has 10 two freedom degrees of pitching 11 and roll, elbow joint 13 to have 11 1 freedom of pitching
Degree, wrist joint 14 do not have freedom degree；
Arm configuration 2: shoulder joint 12 has 10 two freedom degrees of pitching 11 and roll, elbow joint 13 to have 11 1 freedom of pitching
Degree, wrist joint 14 have 9 ones degree of freedom of deflection；
Arm configuration 3: shoulder joint 12 has 10 two freedom degrees of pitching 11 and roll, elbow joint 13 to have 11 1 freedom of pitching
Degree, wrist joint 14 have 9 two freedom degrees of pitching 11 and deflection.
Further, the artificial muscle is used to pull the movement of robot artificial skelecton, so that robot be made to make not
Same movement；Every artificial muscle all has the ability of contraction and stretching；Every two artificial muscles form one group, connect two pieces of phases
Adjacent artificial skelecton；When a contraction of muscle, the rotation in joint is realized in an in addition stretching, the two cooperation；Each group of muscle
The one degree of freedom that joint may be implemented, according to the muscle of the different groups of numbers of configuration of the freedom degree in joint；According to each artificial joint
Corresponding freedom degree, obtain neck joint 16 need two groups of muscle, waist joint 17 need one group of muscle, hip joint 18 need two groups or
Three groups of muscle of person, knee joint 19 need one group of muscle, and ankle-joint 20 needs two groups of muscle, and shoulder joint 12 needs two groups of muscle, elbow
Joint 13 needs one group of muscle, and wrist joint 14 does not need muscle or needs one group or two groups of muscle, and articulations digitorum manus 15 needs one group
Muscle.The function that bone is rotated along some Euler angular direction may be implemented in each group of muscle.In the pulling function of artificial muscle
Under, artificial skelecton is rotated around artificial joint, so that anthropomorphic robot be made to make different movements.
A kind of artificial skeleton and muscle architecture design method of bionical anthropomorphic robot, include the following steps:
S1, the skeleton with reference first to normal human subject and existing anthropomorphic robot structure are chosen wherein crucial bone and are come
Form the artificial skeleton of bionical anthropomorphic robot；
The bone one of adult shares 206 pieces, according to structure, function, position be segmented into skull, bone of body, arm bone,
Four parts of leg bone.
Skull includes 29 pieces of bones, according to function and position, and can be subdivided into brainpan and viscerocranium two parts.Brainpan in total 14
Block bone, viscerocranium totally 15 pieces of bone.
Bone of body includes 51 pieces of bones, constitutes trunk pillar and thoracic cavity, is divided into vertebra, rib cage and 3 kinds of breastbone.
Arm bone includes 64 pieces of bones, is divided into 6 kinds of clavicle, shoulder blade, humerus, ulna, radius, hand bone etc..
Totally 62 pieces of leg bone, it is divided into 6 kinds of hipbone, femur, kneecap, shin bone, fibula, sufficient bone etc..
In order to similar to mankind's shape, the bone arrangement of bionical anthropomorphic robot should copy human skeleton arrangement to carry out
Design.But since the bone of the mankind is large number of, be not suitable for being completely used for making bionical anthropomorphic robot skeleton.Such as Fig. 1, figure
Shown in 2, skeleton drawing and general anthropomorphic robot structure in conjunction with human body select wherein crucial bone to form humanoid machine
The skeleton of people.
As shown in Fig. 2, anthropomorphic robot skeleton is divided into head, trunk, both arms, four parts of both legs.Both arms and both legs are
Symmetrical along frame center, robot, unilateral arm and leg is spliced by multiple bones respectively.
The leg bone of robot unilateral side has 3 bulks: thigh 1, focile 2 and sufficient bone 3；Wherein, thigh 1 is corresponding
Skeleton is femur, the corresponding skeleton of focile 2 is shin bone and radius, the sufficient corresponding skeleton of bone 3 are sufficient bone；
The arm bone of robot unilateral side has 3 bulks: upper arm bone 5, focile 6 and hand bone 7；Wherein upper arm bone 5 is corresponding
Skeleton is humerus, the corresponding skeleton of focile 6 is ulna and thigh bone, the corresponding skeleton of hand bone 7 are hand bone；
Robot head is the skull 4 of a monolith, and the trunk 8 of robot is also made of a monolith bone, rather than as people
Class is spliced by several bones like that.
S2, secondly according to the artificial skeleton of design, bionical people is arranged in and function and position referring to the joint of normal human subject
Each artificial joint of anthropomorphic robot；
Artificial joint controls the rotation of bone for connecting adjacent artificial skelecton.A total of 24 of artificial skeleton
Joint, distribution are as shown in Figure 4.Every leg of robot includes 3 joints: hip joint 18, knee joint 19, ankle-joint 20.Every
Arm includes 3 joints: shoulder joint 12, elbow joint 13, wrist joint 14.Head includes a neck joint 16.Trunk includes one
Waist joint 17.Each palm includes 5 articulations digitorum manus 15.The bone of each joint connection and effect are different.
Further, each joint acts on as follows accordingly:
Hip joint is for connecting thigh and trunk, and the lift for controlling thigh is put and side-to-side movement；
For knee joint for connecting thigh and focile, movement is put in the lift for controlling shank；
Ankle-joint is for connecting focile and sufficient bone, and the lift for controlling foot is put and side-to-side movement；
Shoulder joint is for connecting upper arm bone and trunk, and the lift for controlling upper arm is put and side-to-side movement；
For elbow joint for connecting upper arm bone and focile, movement is put in the lift for controlling forearm；
For wrist joint for connecting focile and hand bone, movement is put in the lift for controlling palm；
Waist joint is used to be connected to the trunk and lower limb of robot, controls the left-right rotation of robot trunk；
Neck joint is for connecting robot skull and trunk, and the lift for controlling head is put and side-to-side movement；
Articulations digitorum manus controls the opening and closing of hand for connecting robot finger and palm.
S3, according to the artificial skeleton of construction and the motion requirement of anthropomorphic robot, it is each artificial to configure bionical anthropomorphic robot
The corresponding freedom degree in joint；
The freedom degree of joint of robot represents the degree of flexibility in joint.It is rotary joint used in the present invention, freely
Degree represents joint can be around the quantity of the rotary shaft of rotation.The freedom degree in each joint is indicated with Eulerian angles, such as Fig. 3 institute
Show, including deflection 9,10 3 kinds of rotation modes of pitching 11 and roll.According to the motion requirement of the skeleton of construction and anthropomorphic robot,
Obtain the freedom degree in each joint of robot.
Neck joint 16 connects robot skull 4 and trunk 8, head can be made to rock from side to side, nodded up and down, need 2 from
By spending；Waist joint 17 connects trunk 8 and robot lower limb, can make 8 left-right rotation of trunk of robot, need 1 freedom degree；
Articulations digitorum manus 15 connects robot palm and finger, can make finger opening and closing, need one degree of freedom；As shown in the table.
Table 1
| Joint name | Freedom degree |
| Neck joint 16 | 2 (pitching 11, deflection 9) |
| Waist joint 17 | 1 (deflection 9) |
| Articulations digitorum manus 15 | 1 (pitching 11) |
The leg of anthropomorphic robot is mainly used for the walking of robot, the lift of each joint control leg bone of leg put or
Person rotates left and right.According to robot in walking with different degrees of flexibility, leg joint is matched comprising 2 kinds of freedom degrees to be installed
Meter, as shown in the table:
Table 2
| Configuration | Hip joint 18 | Knee joint 19 | Ankle-joint 20 |
| 1 | 2 (pitching 11, rolls 10) | 1 (pitching 11) | 2 (pitching 11, rolls 10) |
| 2 | 3 (pitching 11, deflections 9, roll 10) | 1 (pitching 11) | 2 (pitching 11, rolls 10) |
Likewise, the lift that the arm joint of anthropomorphic robot controls arm bone is put or is rotated left and right.Arm joint
Comprising 3 kinds of freedom degree configuration designs, so that arm is reached different poses when opening, be as follows:
Table 3
| Configuration | Shoulder joint 12 | Elbow joint 13 | Wrist joint 14 |
| 1 | 2 (pitching 11, rolls 10) | 1 (pitching 11) | 0 (fixation) |
| 2 | 2 (pitching 11, rolls 10) | 1 (pitching 11) | 1 (deflection 9) |
| 3 | 2 (pitching 11, rolls 10) | 1 (pitching 11) | 2 (pitching 11, deflection 9) |
S4, in conjunction with normal human's muscle distribution and bionical anthropomorphic robot skeleton, configure the artificial of bionical anthropomorphic robot
The position of muscle and function.
The movement of the mankind is the contraction by muscle and stretches the skeleton motion of drive different parts to realize.According to this
One thinking, bionical anthropomorphic robot are also driven machine people's bone bone to be moved using artificial muscle, robot are made to make difference
Movement.In order to realize the purpose, every artificial muscle all has the function of contraction and stretching.Every two artificial muscles composition one
Group connects two pieces of adjacent artificial skelectons.When a wherein contraction of muscle, another muscle stretches accordingly, to make one
Making bone can rotate around artificial joint.Each group of muscle can be such that artificial skelecton rotates around an axis, can realize
The one degree of freedom in joint.Therefore according to the difference of joint freedom degrees, the artificial muscle of different groups of numbers is configured in each joint.
Therefore, obtain neck joint 16 need two groups of muscle, waist joint 17 need one group of muscle, hip joint 18 need two groups or
Three groups of muscle of person, knee joint 19 need one group of muscle, and ankle-joint 20 needs two groups of muscle, and shoulder joint 12 needs two groups of muscle, elbow
Joint 13 needs one group of muscle, and wrist joint 14 does not need muscle or needs one group or two groups of muscle, and articulations digitorum manus 15 needs one group
Muscle.The function that bone is rotated along some Euler angular direction may be implemented in each group of muscle.In order to generate artificial muscle
Movement effects configure people in each joint of robot using the distribution of human muscle and function as reference closer to human muscle
Make muscle.By taking one of which configuration as an example: muscle needed for neck joint 16: 2 groups；Muscle needed for waist joint 17: 1 group；Hip joint 18
Required muscle: 2 groups；Muscle needed for knee joint 19: 1 group；Muscle needed for ankle-joint 20: 2 groups；Muscle needed for shoulder joint 12: 2 groups；
Muscle needed for elbow joint 13: 1 group；Muscle needed for wrist joint 14: 1 group；Muscle needed for articulations digitorum manus 15: 1 group.For ease of description,
The artificial muscle of robot, the position distribution of artificial muscle such as Fig. 5, Fig. 6, Fig. 7 and Fig. 8 institute are referred to the title of human muscle
Show, corresponding function is as shown in the table.
Table 4
S5, as shown in figure 9, according to artificial skelecton 47, artificial joint 46 and artificial muscle is designed the characteristics of anthropomorphic robot
45 structure is assembled into the artificial skeleton and muscle framework of robot.
In step S1, S2, S3 and S4, determined respectively constitute anthropomorphic robot required for bone, joint and
Muscle, they are all with human body for reference to selection；But structoure of the human body and anthropomorphic robot be not identical, these bones, joint
It cannot directly cover with the structure of muscle on anthropomorphic robot；Therefore it needs to carry out according to the characteristics of anthropomorphic robot to artificial
Bone, joint and muscle are carried out simplifying processing and be combined.
Treated anthropomorphic robot skeleton, muscle and joint are as shown in Figure 9.Human skeleton shape be it is irregular,
Various shape has, and is the characteristics of anthropomorphic robot, and artificial skelecton 47 is using regular shapes such as cylindrical body or cuboids as base
Plinth.Artificial skelecton 47 is connected by artificial joint 46.The joint of human body is largely spherical joint, can be along any direction
Axis rotation, and be the characteristics of anthropomorphic robot, artificial joint 46 belongs to rotary joint, can only rotate along specific axis.
Joint in Fig. 9 is the artificial joint of a 2DOF, can be rotated along 2 axis, i.e. pitching and roll.Human body
Muscle can only provide pulling force by bone is punctured into, and the stretching of the muscle of human body is passively, cannot to provide power for skeleton motion.
As shown in figure 9, the characteristics of anthropomorphic robot is, artificial muscle 45 is two one group, with symmetrical formal distribution artificial
The two sides in joint 46, end are fixed on artificial skelecton 47.Each group of artificial muscle 45 can drive artificial joint 46 along one
Axis is rotated.Artificial muscle 45 uses pneumatic driving method, artificial when from a 45 inside gas bleeding of artificial muscle
Muscle 45 is shunk, and provides pulling force to the artificial skelecton 47 of two sides.It is filled with inside another artificial muscle 45 of the group simultaneously
Gas stretches artificial muscle 45, provides thrust to the artificial skelecton 47 of two sides.In the collective effect of pulling force and thrust
Under, artificial joint 46 rotates, and artificial skelecton 47 is made to reach different poses.
The skeleton and muscle systems of bionical anthropomorphic robot simplify treated artificial skelecton 47, artificial muscle by combination
45 and artificial joint 46 constitute.Bone is reduced to cylindrical body, and joint is reduced to bearing, and muscle is reduced to threadiness.With bionical humanoid
For the right leg of robot, as shown in Figure 10.Thigh 1, focile 2 basic configuration be reduced to cylindrical body, sufficient 3 fundamental form of bone
Shape is reduced to cuboid.Hip joint 18, knee joint 19 and ankle-joint 20 are all can only be around the rotary joint that specific axis rotates.Hip closes
The freedom degree of section 18 is 2, has used two groups of artificial muscles 45, drives the pitching 11 and roll 10 of hip joint 18；Knee joint 19
Freedom degree is 1, has used 1 group of artificial muscle 45, drives the pitching 11 of knee joint 19；The freedom degree of ankle-joint 20 is 2, is used
Two groups of artificial muscles 45 drive the pitching 11 and roll 10 of ankle-joint 20.
The power mode that robot in the present invention is moved using artificial muscle driving artificial skelecton, in principle and effect
It is similar with human body, traditional robot is got rid of in such a way that motor and gear are driven, and movement executes more naturally, shake
Situation is slight, and mechanical sense is weaker, and bionical people can be made very close to the mankind, to avoid terrified paddy effect in appearance.
Claims (8)
1. the artificial skeleton and muscle framework of a kind of bionical anthropomorphic robot, which is characterized in that including artificial skeleton, artificial joint
And artificial muscle；The artificial joint is used to connect the bone in artificial skeleton, and the artificial muscle is for pulling artifical bone
The movement of bone, the freedom degree of cooperation artificial joint setting, so that robot be made to make different movements.
2. the artificial skeleton and muscle framework of a kind of bionical anthropomorphic robot according to claim 1, which is characterized in that institute
It states artificial skeleton and is divided into head, trunk, both arms, four parts of both legs；Wherein both arms and both legs are along frame center pair, robot
Claim, unilateral arm and leg is spliced by multiple bones respectively；
The leg bone of robot unilateral side has 3 bulks: thigh, focile and sufficient bone；Wherein, the corresponding skeleton of thigh
For femur, the corresponding skeleton of focile be shin bone and radius, the corresponding skeleton of sufficient bone are sufficient bone；
The arm bone of robot unilateral side has 3 bulks: upper arm bone, focile and hand bone；The wherein corresponding skeleton of upper arm bone
For humerus, the corresponding skeleton of focile be ulna and thigh bone, the corresponding skeleton of hand bone are hand bone；
Robot head includes the skull of a monolith；The trunk of robot is also made of a monolith bone.
3. the artificial skeleton and muscle framework of a kind of bionical anthropomorphic robot according to claim 1, which is characterized in that total
Share 24 artificial joints；Wherein, robot, leg, unilateral side includes three joints: hip joint, knee joint, ankle-joint；Robot
Unilateral arm includes three joints: shoulder joint, elbow joint, wrist joint；There are a neck joints between robot head and trunk；
It include a waist joint i.e. between upper limb and lower limb at the trunk of robot；The palm of robot unilateral side includes 5 articulations digitorum manus.
4. the artificial skeleton and muscle framework of a kind of bionical anthropomorphic robot according to claim 3, which is characterized in that every
A joint acts on as follows accordingly:
Hip joint is for connecting thigh and trunk, and the lift for controlling thigh is put and side-to-side movement；
For knee joint for connecting thigh and focile, movement is put in the lift for controlling shank；
Ankle-joint is for connecting focile and sufficient bone, and the lift for controlling foot is put and side-to-side movement；
Shoulder joint is for connecting upper arm bone and trunk, and the lift for controlling upper arm is put and side-to-side movement；
For elbow joint for connecting upper arm bone and focile, movement is put in the lift for controlling forearm；
For wrist joint for connecting focile and hand bone, movement is put in the lift for controlling palm；
Waist joint is used to be connected to the trunk and lower limb of robot, controls the left-right rotation of robot trunk；
Neck joint is for connecting robot skull and trunk, and the lift for controlling head is put and side-to-side movement；
Articulations digitorum manus controls the opening and closing of hand for connecting robot finger and palm.
5. the artificial skeleton and muscle framework of a kind of bionical anthropomorphic robot according to claim 1, which is characterized in that machine
The freedom degree of device person joint represents the degree of flexibility in joint；The joint of bionical anthropomorphic robot uses rotary joint,
Freedom degree represents joint can be around the quantity of the rotary shaft of rotation；The freedom degree in each joint is indicated with Eulerian angles, is wrapped
Include deflection, pitching and three kinds of roll；Wherein, there are two freedom degrees for neck joint, can control the pitching and deflection on head；Waist joint
There is one degree of freedom, can control the deflection of upper limb；Articulations digitorum manus has one degree of freedom, can control the pitching of finger；
The leg of anthropomorphic robot includes the configuration design of 2 kinds of freedom degrees, makes robot in walking with different degrees of flexible
Property, concrete configuration are as follows:
Leg configuration 1: hip joint has two freedom degrees of pitching and roll, knee joint to have pitching one degree of freedom, ankle-joint to bow
It faces upward and two freedom degrees of roll；
Leg configuration 2: hip joint has pitching, deflection and roll three degree of freedom, knee joint to have pitching one degree of freedom, ankle-joint
There are two freedom degrees of pitching and roll；
The arm of anthropomorphic robot may include 3 kinds of freedom degree configuration designs, and arm is allow to reach different positions when opening
Appearance, concrete configuration are as follows:
Arm configuration 1: shoulder joint has two freedom degrees of pitching and roll, elbow joint to have pitching one degree of freedom, wrist joint not to have
Freedom degree；
Arm configuration 2: shoulder joint has two freedom degrees of pitching and roll, elbow joint to have pitching one degree of freedom, wrist joint to have partially
Turn one degree of freedom；
Arm configuration 3: shoulder joint has two freedom degrees of pitching and roll, elbow joint to have pitching one degree of freedom, wrist joint to bow
Face upward and deflect two freedom degrees.
6. the artificial skeleton and muscle framework of a kind of bionical anthropomorphic robot according to claim 1, which is characterized in that institute
Artificial muscle is stated for pulling the movement of robot artificial skelecton, so that robot be made to make different movements；Every artificial muscle
Meat all has the ability of contraction and stretching；Every two artificial muscles form one group, connect two pieces of adjacent artificial skelectons；When one
When contraction of muscle, the rotation in joint is realized in an in addition stretching, the two cooperation；Each group of muscle may be implemented one of joint certainly
By spending, according to the muscle of the different groups of numbers of configuration of the freedom degree in joint；According to the corresponding freedom degree of each artificial joint, show that neck closes
Section needs two groups of muscle, and waist joint needs one group of muscle, and hip joint needs two groups or three groups of muscle, and knee joint needs one group of flesh
Meat, ankle-joint need two groups of muscle, and shoulder joint needs two groups of muscle, and elbow joint needs one group of muscle, and wrist joint does not need muscle
Or one group or two groups of muscle are needed, articulations digitorum manus needs one group of muscle；Each group of muscle, which has, makes joint along corresponding Euler
The function of angular direction rotation；Under the pulling function of artificial muscle, artificial skelecton is rotated around artificial joint, to make humanoid
Device people makes different movements.
7. a kind of artificial skeleton of any one of the claim 1 ~ 6 bionical anthropomorphic robot and the design method of muscle framework,
It is characterized by comprising the following steps:
S1, the skeleton with reference first to normal human subject and existing anthropomorphic robot structure choose wherein crucial bone to form
The artificial skeleton of bionical anthropomorphic robot；
S2, secondly according to the artificial skeleton of design, bionical humanoid is arranged in and function and position referring to the joint of normal human subject
Each artificial joint of device people；
S3, according to the artificial skeleton of construction and the motion requirement of anthropomorphic robot, configure each artificial joint of bionical anthropomorphic robot
Corresponding freedom degree；
S4, in conjunction with normal human's muscle distribution and bionical anthropomorphic robot skeleton, configure the artificial muscle of bionical anthropomorphic robot
Position and function；
S5, according to the characteristics of bionical anthropomorphic robot design artificial skelecton, artificial joint and artificial muscle structure, be assembled into machine
The artificial skeleton and muscle framework of device people.
8. the artificial skeleton and muscle architecture design method of a kind of bionical anthropomorphic robot according to claim 7, special
Sign is that the step S5 is specifically included:
In step S1, S2, S3 and S4, bone, joint and muscle required for constituting anthropomorphic robot have been determined respectively；
According to carrying out carrying out artificial skelecton, joint and muscle the characteristics of anthropomorphic robot simplifying processing and combine.
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