CN111618881B - Humanoid robot system based on pneumatics - Google Patents
Humanoid robot system based on pneumatics Download PDFInfo
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- CN111618881B CN111618881B CN202010537438.9A CN202010537438A CN111618881B CN 111618881 B CN111618881 B CN 111618881B CN 202010537438 A CN202010537438 A CN 202010537438A CN 111618881 B CN111618881 B CN 111618881B
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- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 166
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 78
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 29
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 23
- 210000001624 hip Anatomy 0.000 claims description 369
- 210000003205 muscle Anatomy 0.000 claims description 278
- 210000004394 hip joint Anatomy 0.000 claims description 74
- 210000000629 knee joint Anatomy 0.000 claims description 73
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 62
- 210000000078 claw Anatomy 0.000 claims description 13
- 210000002683 foot Anatomy 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 9
- 210000003414 extremity Anatomy 0.000 description 5
- 210000003857 wrist joint Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000002082 fibula Anatomy 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 210000002758 humerus Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention relates to a humanoid robot system based on pneumatics, the upper limb joint connects the waist joint, the lower limb joint is set up symmetrically below the waist joint; one side of a shoulder joint supporting piece of an upper limb joint is rotatably connected with a shoulder joint cylinder I, a shoulder joint cylinder II and a shoulder joint cylinder III, the other side of the shoulder joint supporting piece is rotatably connected with a shoulder joint cylinder IV, a shoulder joint cylinder V and a shoulder joint cylinder VI, the shoulder joint cylinder I, the shoulder joint cylinder II and the shoulder joint cylinder III are rotatably connected with a shoulder joint end plate, the shoulder joint cylinder IV, the shoulder joint cylinder V and the shoulder joint cylinder VI are rotatably connected with a shoulder joint end plate at the other side, the shoulder joint end plate is connected with an elbow joint side plate I and an elbow joint side plate II, a cylinder body of a swing cylinder I is fixed on the elbow joint side plate I, and a rotating shaft of the swing cylinder I is fixed on a belt wheel. The invention has compact structure, more freedom degrees, rigid-flexible combination, large working space and joint singularity avoidance.
Description
Technical Field
The invention relates to the technical field of bionic robot equipment, in particular to a pneumatic-based bionic robot system which is compact in structure, multiple in freedom degree, rigid-flexible combination, large in working space and capable of avoiding joint singularity.
Background
The robot is used as a machine which works with human in a cooperative mode, integrates mechanical, electrical, algorithm, computer program and multi-sensor fusion technology into a whole, is a cross study based on multiple disciplines, and the research level of the robot shows the comprehensive technological level and the industrial basic level of a country.
The pneumatic technology is clean, good in explosion-proof performance and inexhaustible, and particularly provides reliable industrial components for pneumatic companies represented by FESTO, SMC and Adeko, so that the pneumatic technology is ensured to be widely applied to the industrial field. The main elements of the pneumatic element are cylinders, which can be divided into linear cylinders, swing cylinders and pneumatic muscles.
The inventor applies for Chinese patents CN107717961A, CN108453705A, CN109987170A, CN110561457A, CN110682305A, CN110936367A and the like, and proposes a robot joint and a humanoid robot based on parallel connection of cylinders. CN107717961A discloses a humanoid robot based on cylinder, uses the cylinder as the drive element and simulates the waist joint and the four limbs movement of people, has the function of simulating the people's movement completely. The humanoid robot mainly comprises a cylinder, a fixing plate, a femur, a fibula and a humerus and has 44 degrees of freedom; the simulated waist joint has 12 degrees of freedom, the hip joint, the knee joint and the ankle joint of the simulated lower limb have 3, 2 and 2 degrees of freedom respectively, the shoulder joint, the elbow joint and the wrist joint of the simulated upper limb have 3, 1 and 4 degrees of freedom respectively, and one degree of freedom is added between the shoulder joint and the elbow joint. CN108453705A discloses a human-simulated robot system based on air cylinders, which uses air cylinders as driving elements to simulate the movement of human trunk joints and four limbs, and has the function of completely simulating the movement of human. The cylinder-based humanoid robot mainly comprises a linear motion cylinder, a swing cylinder, vertebrae, a fixing plate, a femur, a fibula, feet, an air claw and the like, and has 38 degrees of freedom. The simulated trunk joint has 6 degrees of freedom, the hip joint, the knee joint and the ankle joint of the simulated lower limb have 3, 3 and 3 degrees of freedom respectively, and the shoulder joint, the elbow joint and the wrist joint of the simulated upper limb have 4, 1 and 2 degrees of freedom respectively.
Because the cylinders are regularly distributed in parallel, in the joint movement process, the movement working space is limited due to singularity, the rigid-flexible combination of the joints is not considered, and in addition, the robot joints and the humanoid robot with the cylinders in parallel connection are not concerned. There is a need for a pneumatically-based humanoid robot system that is compact, has multiple degrees of freedom, rigid-flexible combination, large working space, and avoids joint singularities.
Disclosure of Invention
The invention aims to provide a pneumatic humanoid robot system which is compact in structure, multiple in degree of freedom, rigid-flexible combination, large in working space and capable of avoiding joint singularity.
A pneumatically based humanoid robot system comprising:
the upper limb joint is connected with a waist joint, and lower limb joints are symmetrically arranged below the waist joint;
one side of a shoulder joint supporting piece of the upper limb joint is rotatably connected with a shoulder joint cylinder I, a shoulder joint cylinder II and a shoulder joint cylinder III, the other side of the shoulder joint supporting piece is rotatably connected with a shoulder joint cylinder IV, a shoulder joint cylinder V and a shoulder joint cylinder VI, the shoulder joint cylinder I, the shoulder joint cylinder II and the shoulder joint cylinder III are rotatably connected with a shoulder joint end plate, the shoulder joint cylinder IV, the shoulder joint cylinder V and the shoulder joint cylinder VI are rotatably connected with a shoulder joint end plate at the other side, the shoulder joint end plate is respectively and fixedly connected with an elbow joint side plate I and an elbow joint side plate II, a cylinder body of a swing cylinder I is fixed on the elbow joint side plate I, a rotating shaft of the swing cylinder I is fixed on a belt wheel II, the belt wheel II is connected with the belt wheel I through a belt I, the belt wheel I is rotatably connected with the elbow joint plate, and the elbow joint second is, the rotating shaft of the swing cylinder II is connected with a belt wheel IV, the belt wheel IV is connected with a belt wheel III through a belt II, the belt wheel III is rotatably connected to an elbow joint plate, the elbow joint plate and a shoulder joint end plate are respectively rotatably connected with two ends of an elbow joint cylinder I and two ends of an elbow joint cylinder II, and the elbow joint plate is fixedly connected with a gas claw;
the shoulder joint support piece is fixedly connected with a waist joint plate III, the waist joint plate III is respectively and rotatably connected with a waist joint pneumatic muscle I, a waist joint pneumatic muscle II and a waist joint pneumatic muscle II, the waist joint plate III is respectively and rotatably connected with a waist joint plate IV, the waist joint plate IV is fixedly connected with a waist joint cylinder I, the waist joint plate III is rotatably connected with a waist joint cylinder I, the waist joint plate IV is rotatably connected with a waist joint pneumatic muscle II, a waist joint pneumatic muscle III and a waist joint pneumatic muscle VII, the waist joint pneumatic muscle II, the waist joint pneumatic muscle III and the waist joint pneumatic muscle VII are rotatably connected with a waist joint plate I, the waist joint plate I is fixedly connected with a waist joint cylinder III, the waist joint cylinder III is rotatably connected with a waist joint plate IV, the waist joint plate I is rotatably connected with a waist joint pneumatic muscle IV, The waist joint pneumatic muscle II, the waist joint pneumatic muscle II and the waist joint pneumatic muscle nine are rotatably connected with a waist joint plate II, the waist joint plate II is fixedly connected with a waist joint cylinder II, the waist joint cylinder II is rotatably connected with the waist joint plate I, the waist joint plate I and the waist joint plate III are respectively rotatably connected with two joint pneumatic muscles I, two joint pneumatic muscles II and two joint pneumatic muscles III, and the waist joint plate III and the waist joint plate II are respectively rotatably connected with three joint pneumatic muscles I, three joint pneumatic muscles II and three joint pneumatic muscles III;
the waist joint plate II is rotatably connected with a hip joint cylinder I, a hip joint cylinder II, a hip joint cylinder III and a knee joint cylinder II of a lower limb joint on one side, the hip joint cylinder I, the hip joint cylinder II and the hip joint cylinder III are rotatably connected with a hip joint connecting plate, the hip joint connecting plate is rotatably connected with a knee joint cylinder I and a knee joint cylinder III, the knee joint cylinder I and the knee joint cylinder III are rotatably connected with a knee joint connecting plate, the knee joint connecting plate is rotatably connected with the knee joint cylinder II, the knee joint connecting plate is rotatably connected with an ankle joint cylinder I, an ankle joint cylinder II and an ankle joint cylinder III, and the ankle joint cylinder I, the ankle joint cylinder II and the ankle joint cylinder III are rotatably connected with feet;
and the computer is used for respectively controlling the upper limb joint control system, the waist joint control system and the lower limb joint control system.
The shoulder joint supporting piece is I-shaped, and the connecting positions are two sides of the vertical plate.
The shoulder joint air cylinder I, the shoulder joint air cylinder II and the shoulder joint air cylinder III are connected in parallel and are uniformly distributed in a crossed mode, and the shoulder joint air cylinder IV, the shoulder joint air cylinder V and the shoulder joint air cylinder VI are connected in parallel and are uniformly distributed in a crossed mode.
The elbow joint plate is U-shaped, the two sides of the elbow joint plate are respectively connected with the first belt wheel and the third belt wheel, and the gas claw is fixed on the outward surface of the bottom.
The first waist joint pneumatic muscle, the fifth waist joint pneumatic muscle and the sixth waist joint pneumatic muscle are distributed around the first waist joint cylinder, the second waist joint pneumatic muscle, the third waist joint pneumatic muscle and the seventh waist joint pneumatic muscle are distributed around the third waist joint cylinder, and the fourth waist joint pneumatic muscle, the eighth waist joint pneumatic muscle and the ninth waist joint pneumatic muscle are distributed around the second waist joint cylinder.
The first two-joint pneumatic muscle, the second two-joint pneumatic muscle and the third two-joint pneumatic muscle are uniformly distributed around the first waist joint plate and the third waist joint plate, and the first three-joint pneumatic muscle, the second three-joint pneumatic muscle and the third three-joint pneumatic muscle are uniformly distributed around the third waist joint plate and the second waist joint plate.
The ankle joint air cylinder I, the ankle joint air cylinder II and the ankle joint air cylinder III are arranged in a crossed mode, and the hip joint air cylinder I, the hip joint air cylinder II and the hip joint air cylinder III are arranged in a crossed mode.
The upper limb joint control system comprises a shoulder joint cylinder I, a shoulder joint cylinder II, a shoulder joint cylinder III, a shoulder joint cylinder IV, a shoulder joint cylinder V, a shoulder joint cylinder VI, an elbow joint cylinder I, an elbow joint cylinder II, a swing cylinder I, an air claw and a swing cylinder II;
the waist joint control system comprises a first waist joint pneumatic muscle, a first waist joint cylinder, a second waist joint pneumatic muscle, a third waist joint pneumatic muscle, a fourth waist joint pneumatic muscle, a second waist joint cylinder, a fifth waist joint pneumatic muscle, a sixth waist joint pneumatic muscle, a seventh waist joint pneumatic muscle, a third waist joint cylinder, a eighth waist joint pneumatic muscle, a ninth waist joint pneumatic muscle, a first two-joint pneumatic muscle, a first three-joint pneumatic muscle, a second two-joint pneumatic muscle, a third two-joint pneumatic muscle and a third three-joint pneumatic muscle;
the lower limb joint control system comprises an ankle joint cylinder I, an ankle joint cylinder II, an ankle joint cylinder III, a hip joint cylinder I, a hip joint cylinder II, a hip joint cylinder III, a knee joint cylinder I, a knee joint cylinder II and a knee joint cylinder III.
The upper limb joint is connected with the waist joint, and the lower limb joint is symmetrically arranged below the waist joint; one side of a shoulder joint support piece of an upper limb joint is rotatably connected with a shoulder joint cylinder I, a shoulder joint cylinder II and a shoulder joint cylinder III, the other side of the shoulder joint support piece is rotatably connected with a shoulder joint cylinder IV, a shoulder joint cylinder V and a shoulder joint cylinder VI, the shoulder joint cylinder I, the shoulder joint cylinder II and the shoulder joint cylinder III are rotatably connected with a shoulder joint end plate, the shoulder joint cylinder IV, the shoulder joint cylinder V and the shoulder joint cylinder VI are rotatably connected with a shoulder joint end plate at the other side, the shoulder joint end plate is connected with an elbow joint side plate I and an elbow joint side plate II respectively, a cylinder body of a swing cylinder I is fixed on the elbow joint side plate I, a rotating shaft of the swing cylinder I is fixed on a belt wheel II, the belt wheel II is connected with the belt wheel I through a belt I, the belt wheel I is rotatably connected to the elbow joint plate, the elbow joint side plate II is fixedly, the belt wheel IV is connected with a belt wheel III through a belt II, the belt wheel III is rotatably connected to an elbow joint plate, the elbow joint plate and a shoulder joint end plate are respectively rotatably connected with two ends of an elbow joint cylinder I and an elbow joint cylinder II, and the elbow joint plate is fixedly connected with a gas claw; the shoulder joint support is fixedly connected with a waist joint plate III, the waist joint plate III is respectively and rotatably connected with a waist joint pneumatic muscle I, a waist joint pneumatic muscle V and a waist joint pneumatic muscle VI, the waist joint pneumatic muscle I, the waist joint pneumatic muscle V and the waist joint pneumatic muscle VI are respectively and rotatably connected with a waist joint plate IV, the waist joint plate IV is fixedly connected with a waist joint cylinder I, the waist joint plate III is rotatably connected with a waist joint cylinder I, the waist joint plate IV is rotatably connected with a waist joint pneumatic muscle II, a waist joint pneumatic muscle III, a waist joint pneumatic muscle VII, the waist joint pneumatic muscle II, the waist joint pneumatic muscle III, the waist joint pneumatic muscle VII is rotatably connected with a waist joint plate I, the waist joint plate I is fixedly connected with the waist joint cylinder III, the waist joint cylinder III is rotatably connected with the waist joint plate IV, the waist joint plate I is rotatably connected with the waist joint pneumatic muscle IV, the waist joint pneumatic muscle VIII, The waist joint pneumatic muscle II, the waist joint pneumatic muscle II and the waist joint pneumatic muscle III are rotatably connected with a waist joint plate II, the waist joint plate II is fixedly connected with a waist joint cylinder II, the waist joint cylinder II is rotatably connected with a waist joint plate I, the waist joint plate I and the waist joint plate III are respectively rotatably connected with two joint pneumatic muscles I, two joint pneumatic muscles II and two joint pneumatic muscles III, and the waist joint plate III and the waist joint plate II are respectively rotatably connected with three joint pneumatic muscles I, three joint pneumatic muscles II and three joint pneumatic muscles III; the first waist joint plate, the second hip joint cylinder and the third hip joint cylinder are rotatably connected with a hip joint connecting plate, the first hip joint connecting plate and the third hip joint cylinder are rotatably connected with a knee joint connecting plate, the first knee joint connecting plate and the third knee joint cylinder are rotatably connected with a knee joint connecting plate, the knee joint connecting plate is rotatably connected with the second knee joint cylinder, the knee joint connecting plate is rotatably connected with the first ankle joint cylinder, the second ankle joint cylinder and the third ankle joint cylinder, and the first ankle joint cylinder, the second ankle joint cylinder and the third ankle joint cylinder are rotatably connected with feet; the computer respectively controls the upper limb joint control system, the waist joint control system and the lower limb joint control system.
The pneumatic muscle and the air cylinder are used for driving the shoulder joint, the elbow joint, the wrist joint, the waist joint, the hip joint, the knee joint and the ankle joint to move, and the pneumatic muscle and pneumatic muscle combined type human body joint motion simulator has the function of completely simulating the human joint motion. The humanoid robot mainly comprises a cylinder, pneumatic muscles, a belt wheel, a belt, pneumatic claws and a connecting piece. The shoulder joint, the hip joint, the knee joint and the ankle joint are formed by connecting irregularly distributed cylinders in parallel, so that the singularity of the joints is avoided, and the accessibility of the joints in a larger working space is ensured. The elbow joint is in a hybrid driving mode by a linear cylinder, a swing cylinder, a belt wheel and a belt, and the diversity of joint motion is ensured. The waist joint is driven by the cylinder, the single joint pneumatic muscle, the two joint pneumatic muscle and the three joint pneumatic muscle in a mixed mode, so that the freedom degree and the rigidity of the joint movement are guaranteed, and the rigid-flexible combination is realized. The invention is driven by the cylinder and the pneumatic muscle, has the characteristics of compact structure, multiple degrees of freedom, rigid-flexible combination, large working space and avoidance of joint singularity, and can be used for teaching and demonstration.
The invention has the beneficial effects that:
1. the joint is driven by combining a plurality of single-joint pneumatic muscles, a plurality of multi-joint pneumatic muscles and the air cylinder, so that the joint can move in multiple directions simultaneously;
2. the pneumatic muscle driving device has the advantages of large power/mass ratio, good flexibility, compact structure and the like by utilizing pneumatic muscle driving;
3. the shoulder joint, the elbow joint, the wrist joint, the waist joint, the hip joint, the knee joint and the ankle joint respectively have 6 degrees of freedom, 3 degrees of freedom, 6 degrees of freedom and 6 degrees of freedom, can vividly simulate various actions which can be realized by a person, and are beneficial to understanding the human body structure and the action of basic executive elements in human body movement.
Drawings
FIG. 1 is a view of the overall mechanical structure of the present invention;
FIG. 2 is a mechanical structure view of the two upper limbs of the present invention;
FIG. 3 is a mechanical structure of a single upper limb of the present invention;
FIG. 4 is a mechanical structure of the single joint muscle and lumbar joint of the present invention;
FIG. 5 is a mechanical structure of the multi-joint musculoskeletal lumbar joint of the present invention;
FIG. 6 is a lower limb mechanical structure according to the present invention;
FIG. 7 is a block diagram of the control system of the present invention;
in the figure, 1, an upper limb joint, 2, a waist joint, 3, a lower limb joint, 4, a shoulder joint cylinder I, 5, a shoulder joint support, 6, a shoulder joint cylinder II, 7, a shoulder joint cylinder III, 8, a shoulder joint cylinder IV, 9, a shoulder joint cylinder V, 10, a shoulder joint cylinder VI, 11, a belt wheel I, 12, a belt wheel I, 13, an elbow joint cylinder I, 14, an elbow joint cylinder II, 15, a belt wheel II, 16, an elbow joint side panel I, 17, a swing cylinder I, 18, an air claw, 19, an elbow joint plate, 20, a belt wheel III, 21, a belt wheel II, 22, a elbow joint side panel II, 23, a belt wheel IV, 24, a shoulder joint end panel, 25, a swing cylinder II, 26, a waist joint pneumatic muscle I, 27, a waist joint cylinder I, 28, a waist joint pneumatic muscle II, 29, a waist joint pneumatic muscle III, 30, a waist joint plate I, 31, a waist joint pneumatic muscle IV, 32. a second waist joint cylinder 33, a second waist joint plate 34, a third waist joint plate 35, a fifth waist joint pneumatic muscle 36, a sixth waist joint pneumatic muscle 37, a fourth waist joint plate 38, a seventh waist joint pneumatic muscle 39, a third waist joint cylinder 40, a eighth waist joint pneumatic muscle 41, a ninth waist joint pneumatic muscle 42, a first two-joint pneumatic muscle 43, a first three-joint pneumatic muscle 44, a second three-joint pneumatic muscle 45, a second two-joint pneumatic muscle 46, a third two-joint pneumatic muscle 47, a third three-joint pneumatic muscle 48, a first hip joint cylinder 49, a second hip joint cylinder 50, a third hip joint cylinder 51, a hip joint connecting plate 52, a first knee joint cylinder 53, a knee joint connecting plate 54, a first ankle joint cylinder 55, a second ankle joint cylinder 56, a foot 57, a second knee joint cylinder 58, and a third waist joint cylinder 58, 59. ankle joint cylinder three, 60, computer, 61, upper limb joint control system, 62, waist joint control system, 63, lower limb joint control system.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
A pneumatically based humanoid robot system comprising: the upper limb joint 1 is connected with the waist joint 2, and the lower limb joints 3 are symmetrically arranged below the waist joint 2; one side of a shoulder joint support 5 of an upper limb joint 1 is rotatably connected with a shoulder joint cylinder I4, a shoulder joint cylinder II 6 and a shoulder joint cylinder III 7, the other side is rotatably connected with a shoulder joint cylinder IV 8, a shoulder joint cylinder V9 and a shoulder joint cylinder VI 10, the shoulder joint cylinder I4, the shoulder joint cylinder II 6 and the shoulder joint cylinder III 7 are rotatably connected with a shoulder joint end plate 24, the shoulder joint cylinder IV 8, the shoulder joint cylinder V9 and the shoulder joint cylinder VI 10 are rotatably connected with a shoulder joint end plate 24 at the other side, the shoulder joint end plate 24 is respectively and fixedly connected with an elbow joint side plate I16 and an elbow joint side plate II 22, a cylinder body of a swing cylinder I17 is fixed on the elbow joint side plate I16, a rotating shaft of the swing cylinder I17 is fixed on a belt wheel II 15, the belt II 15 is connected with a belt wheel I12, the belt I11 is rotatably connected with an elbow joint plate 19, the second elbow joint side plate 22 is fixedly connected with a cylinder body of a second swing cylinder 25, a rotating shaft of the second swing cylinder 25 is connected with a fourth belt wheel 23, the fourth belt wheel 23 is connected with a third belt wheel 20 through a second belt 21, the third belt wheel 20 is rotatably connected with an elbow joint plate 19, the elbow joint plate 19 and a shoulder joint end plate 24 are respectively rotatably connected with two ends of the first elbow joint cylinder 13 and the second elbow joint cylinder 14, and the elbow joint plate 19 is fixedly connected with an air claw 18; the shoulder joint support 5 is fixedly connected with a waist joint plate III 34, the waist joint plate III 34 is respectively and rotatably connected with a waist joint pneumatic muscle I26, a waist joint pneumatic muscle II 35 and a waist joint pneumatic muscle II 36, the waist joint pneumatic muscle I26, the waist joint pneumatic muscle II 35 and the waist joint pneumatic muscle II 36 are respectively and rotatably connected with a waist joint plate IV 37, the waist joint plate IV 37 is fixedly connected with a waist joint cylinder I27, the waist joint plate III 34 is rotatably connected with a waist joint cylinder I27, the waist joint plate IV 37 is rotatably connected with a waist joint pneumatic muscle II 28, the waist joint pneumatic muscle III 29, the waist joint pneumatic muscle VII 38, the waist joint pneumatic muscle II 28, the waist joint pneumatic muscle III 29 and the waist joint pneumatic muscle VII 38 are rotatably connected with a waist joint plate I30, the waist joint plate I30 is fixedly connected with a waist joint cylinder III 39, the waist joint cylinder III 39 is rotatably connected with a waist joint plate IV 37, the first waist joint plate 30 is rotatably connected with a fourth waist joint pneumatic muscle 31, a eighth waist joint pneumatic muscle 40 and a ninth waist joint pneumatic muscle 41, the fourth waist joint pneumatic muscle 31, the eighth waist joint pneumatic muscle 40 and the ninth waist joint pneumatic muscle 41 are rotatably connected with a second waist joint plate 33, the second waist joint plate 33 is fixedly connected with a second waist joint cylinder 32, the second waist joint cylinder 32 is rotatably connected with the first waist joint plate 30, the first waist joint plate 30 and the third waist joint plate 34 are respectively rotatably connected with a first two joint pneumatic muscle 42, a second two joint pneumatic muscle 45 and a third two joint pneumatic muscle 46, and the third waist joint plate 34 and the second waist joint plate 33 are respectively rotatably connected with a first three joint pneumatic muscle 43, a second three joint pneumatic muscle 44 and a third three joint pneumatic muscle 47;
the second waist joint plate 33 is rotatably connected with a first hip joint cylinder 48, a second hip joint cylinder 49, a third hip joint cylinder 50 and a second knee joint cylinder 57 of the lower limb joint 3 on one side, the first hip joint cylinder 48, the second hip joint cylinder 49 and the third hip joint cylinder 50 are rotatably connected with a hip joint connecting plate 51, the hip joint connecting plate 51 is rotatably connected with a first knee joint cylinder 52 and a third knee joint cylinder 58, the first knee joint cylinder 52 and the third knee joint cylinder 58 are rotatably connected with a knee joint connecting plate 53, the knee joint connecting plate 53 is rotatably connected with the second knee joint cylinder 57, the knee joint connecting plate 53 is rotatably connected with a first ankle joint cylinder 54, a second ankle joint cylinder 55, a third ankle joint cylinder 59, a first ankle joint cylinder 54, a second ankle joint cylinder 55 and a third ankle joint cylinder 59 are rotatably; the computer 60 controls an upper limb joint control system 61, a waist joint control system 62, and a lower limb joint control system 63, respectively.
The shoulder joint supporting piece 5 is I-shaped, and the connecting positions are two sides of the vertical plate. The shoulder joint cylinder I4, the shoulder joint cylinder II 6 and the shoulder joint cylinder III 7 are connected in parallel and are uniformly distributed in a crossed mode, and the shoulder joint cylinder IV 8, the shoulder joint cylinder V9 and the shoulder joint cylinder VI 10 are connected in parallel and are uniformly distributed in a crossed mode. The elbow joint plate 19 is U-shaped, the two sides of the elbow joint plate are respectively connected with the belt wheel I11 and the belt wheel III 20, and the gas claw 18 is fixed on the surface of the elbow joint plate with the outward bottom. The first waist joint pneumatic muscle 26, the fifth waist joint pneumatic muscle 35 and the sixth waist joint pneumatic muscle 36 are distributed around the first waist joint cylinder 27, the second waist joint pneumatic muscle 28, the third waist joint pneumatic muscle 29 and the seventh waist joint pneumatic muscle 38 are distributed around the third waist joint cylinder 39, and the fourth waist joint pneumatic muscle 31, the eighth waist joint pneumatic muscle 40 and the ninth waist joint pneumatic muscle 41 are distributed around the second waist joint cylinder 32. The first two-joint pneumatic muscle 42, the second two-joint pneumatic muscle 45 and the third two-joint pneumatic muscle 46 are uniformly distributed around the first waist joint plate 30 and the third waist joint plate 34, and the first three-joint pneumatic muscle 43, the second three-joint pneumatic muscle 44 and the third three-joint pneumatic muscle 47 are uniformly distributed around the third waist joint plate 34 and the second waist joint plate 33. The first ankle joint cylinder 54, the second ankle joint cylinder 55 and the third ankle joint cylinder 59 are arranged in a crossed mode, and the first hip joint cylinder 48, the second hip joint cylinder 49 and the third hip joint cylinder 50 are arranged in a crossed mode.
The upper limb joint control system 61 comprises a shoulder joint cylinder I4, a shoulder joint cylinder II 6, a shoulder joint cylinder III 7, a shoulder joint cylinder IV 8, a shoulder joint cylinder V9, a shoulder joint cylinder VI 10, an elbow joint cylinder I13, an elbow joint cylinder II 14, a swing cylinder I17, an air claw 18 and a swing cylinder II 25; the waist joint control system 62 comprises a first waist joint pneumatic muscle 26, a first waist joint cylinder 27, a second waist joint pneumatic muscle 28, a third waist joint pneumatic muscle 29, a fourth waist joint pneumatic muscle 31, a second waist joint cylinder 32, a fifth waist joint pneumatic muscle 35, a sixth waist joint pneumatic muscle 36, a seventh waist joint pneumatic muscle 38, a third waist joint cylinder 39, a eighth waist joint pneumatic muscle 40, a ninth waist joint pneumatic muscle 41, a first two-joint pneumatic muscle 42, a first three-joint pneumatic muscle 43, a second three-joint pneumatic muscle 44, a second two-joint pneumatic muscle 45, a third two-joint pneumatic muscle 46 and a third three-joint pneumatic muscle 47; the lower limb joint control system 63 comprises an ankle joint cylinder I54, an ankle joint cylinder II 55, an ankle joint cylinder III 59, a hip joint cylinder I48, a hip joint cylinder II 49, a hip joint cylinder III 50, a knee joint cylinder I52, a knee joint cylinder II 57 and a knee joint cylinder III 58.
A humanoid robot system based on pneumatics mainly includes upper limbs joint 1, waist joint 2, low limbs joint 3, and the quantity of upper limbs joint 1, low limbs joint 3 is 2 to two low limbs joint 3's structure is identical completely.
The shoulder joint cylinder I4, the shoulder joint cylinder II 6 and the shoulder joint cylinder III 7 are used as executing elements to drive the left upper limb shoulder joint in a parallel mode, the shoulder joint cylinder IV 8, the shoulder joint cylinder V9 and the shoulder joint cylinder VI 10 are used as executing elements to drive the right upper limb shoulder joint in a parallel mode, the shoulder joint cylinder I4, the shoulder joint cylinder II 6, the shoulder joint cylinder III 7, the shoulder joint cylinder IV 8, the shoulder joint cylinder V9 and the shoulder joint cylinder VI 10 are uniformly distributed on the circumference of the shoulder joint support member 5 in a crossed mode, the positions of the cylinders can be dynamically adjusted according to requirements, the left shoulder joint and the right shoulder joint are respectively driven in different combination modes, and the movement along the direction of X, Y, Z and the rotation around the X, Z shaft can be realized.
The first elbow joint side panel 16 and the second elbow joint side panel 22 are fixedly connected with the shoulder joint end plate 24; the cylinder body and the rotating shaft of the first swing cylinder 17 are fixedly connected with a first elbow joint side panel 16 and a second belt wheel 15 respectively, the first belt 12 is meshed with the first belt wheel 11 and the second belt wheel 15 simultaneously, and the first belt wheel 11 is rotatably connected with the elbow joint plate 19; the cylinder body and the rotating shaft of the second swing cylinder 25 are fixedly connected with the second elbow joint side panel 22 and the fourth belt wheel 23 respectively, the second belt 21 is meshed with the third belt wheel 20 and the fourth belt wheel 23 simultaneously, and the elbow joint plate 19 is rotatably connected with the third belt wheel 20. Two ends of the elbow joint cylinder I13 and the elbow joint cylinder II 14 are respectively and rotatably connected with the shoulder joint end plate 24 and the elbow joint plate 19. The first elbow joint cylinder 13 and the second elbow joint cylinder 14 can drive the elbow joint plate 19 to rotate around the X, Y, Z axis and move along the X, Y, Z direction relative to the shoulder joint end plate 24; the first swing cylinder 17 and the second swing cylinder 25 drive the elbow joint plate 19 to rotate around the X axis relative to the shoulder joint end plate 24 through belt pulleys. The air gripper 18 is fixedly connected with the elbow joint plate 19, and the air gripper 18 can rotate around the Y axis and move along the X, Z axis.
Two ends of a first waist joint pneumatic muscle 26, a fifth waist joint pneumatic muscle 35 and a sixth waist joint pneumatic muscle 36 are respectively and rotatably connected with a third waist joint plate 34 and a fourth waist joint plate 37, one end of a first waist joint cylinder 27 is fixedly connected with the fourth waist joint plate 37, and the other end of the first waist joint cylinder is rotatably connected with the third waist joint plate 34;
the two ends of the second waist joint pneumatic muscle 28, the third waist joint pneumatic muscle 29 and the seventh waist joint pneumatic muscle 38 are respectively rotatably connected with the first waist joint plate 30 and the fourth waist joint plate 37, one end of the third waist joint cylinder 39 is rotatably connected with the fourth waist joint plate 37, and the other end of the third waist joint cylinder is fixedly connected with the first waist joint plate 30; two ends of the waist joint pneumatic muscle four 31, the waist joint pneumatic muscle eight 40 and the waist joint pneumatic muscle nine 41 are respectively rotatably connected with the waist joint plate one 30 and the waist joint plate two 33, one end of the waist joint cylinder two 32 is rotatably connected with the waist joint plate one 30, and the other end is fixedly connected with the waist joint plate two 33. The combination of the first waist joint pneumatic muscle 26, the fifth waist joint pneumatic muscle 35, the sixth waist joint pneumatic muscle 36, the second waist joint pneumatic muscle 28, the third waist joint pneumatic muscle 29, the seventh waist joint pneumatic muscle 38, the fourth waist joint pneumatic muscle 31, the eighth waist joint pneumatic muscle 40, the ninth waist joint pneumatic muscle 41, the first waist joint cylinder 27, the second waist joint cylinder 32 and the third waist joint cylinder 39 can realize that the joint moves along the Z axis and rotates around the X, Y axis.
Two ends of the first two-joint pneumatic muscle 42, the second two-joint pneumatic muscle 45 and the third two-joint pneumatic muscle 46 are respectively and rotatably connected with the first waist joint plate 30 and the third waist joint plate 34, and two ends of the first three-joint pneumatic muscle 43, the second three-joint pneumatic muscle 44 and the third three-joint pneumatic muscle 47 are respectively and rotatably connected with the second waist joint plate 33 and the third waist joint plate 34. The combination of the first two-joint pneumatic muscle 42, the second two-joint pneumatic muscle 45, the third two-joint pneumatic muscle 46, the first three-joint pneumatic muscle 43, the second three-joint pneumatic muscle 44, the third three-joint pneumatic muscle 47, the first waist joint pneumatic muscle 26, the fifth waist joint pneumatic muscle 35, the sixth waist joint pneumatic muscle 36, the second waist joint pneumatic muscle 28, the third waist joint pneumatic muscle 29, the seventh waist joint pneumatic muscle 38, the fourth waist joint pneumatic muscle 31, the eighth waist joint pneumatic muscle 40, the ninth waist joint pneumatic muscle 41, the first waist joint cylinder 27, the second waist joint cylinder 32 and the third waist joint cylinder 39 can realize that the joint moves along the Z axis and rotates around the X, Y axis. The first waist joint pneumatic muscle 26, the fifth waist joint pneumatic muscle 35, the sixth waist joint pneumatic muscle 36, the second waist joint pneumatic muscle 28, the third waist joint pneumatic muscle 29, the seventh waist joint pneumatic muscle 38, the fourth waist joint pneumatic muscle 31, the eighth waist joint pneumatic muscle 40, the ninth waist joint pneumatic muscle 41, the first two joint pneumatic muscle 42, the second two joint pneumatic muscle 45, the third two joint pneumatic muscle 46, the first three-joint pneumatic muscle 43, the second three-joint pneumatic muscle 44 and the third three-joint pneumatic muscle 47 are distributed in a crossed manner. The pneumatic device comprises a first waist joint pneumatic muscle 26, a fifth waist joint pneumatic muscle 35, a sixth waist joint pneumatic muscle 36, a second waist joint pneumatic muscle 28, a third waist joint pneumatic muscle 29, a seventh waist joint pneumatic muscle 38, a fourth waist joint pneumatic muscle 31, a eighth waist joint pneumatic muscle 40, a ninth waist joint pneumatic muscle 41, a first waist joint cylinder 27, a second waist joint cylinder 32 and a third waist joint cylinder 39, wherein the main functions are output force, and the functions of the first two joint pneumatic muscle 42, the second two joint pneumatic muscle 45, the third two joint pneumatic muscle 46, the first three-joint pneumatic muscle 43, the second three-joint pneumatic muscle 44 and the third three-joint pneumatic muscle 47 are auxiliary reinforcement functions.
Two ends of a hip joint cylinder I48, a hip joint cylinder II 49 and a hip joint cylinder III 50 are respectively and rotatably connected with a waist joint plate II 33 and a hip joint connecting plate 51, one end of the hip joint cylinder III 50 is rotatably connected with the inner side of the waist joint plate II 33, the other end of the hip joint cylinder III is rotatably connected with the outer side of the hip joint connecting plate 51, and the hip joint cylinder I48 and the hip joint cylinder II 49 are in a front-back relation in space. The two ends of the first knee joint cylinder 52 and the third knee joint cylinder 58 are respectively rotatably connected with the hip joint connecting plate 51 and the knee joint connecting plate 53, the first knee joint cylinder 52 and the third knee joint cylinder 58 are in a left-right spatial relationship, the two ends of the second knee joint cylinder 57 are respectively rotatably connected with the second waist joint plate 33 and the third knee joint connecting plate 53, one end of the second knee joint cylinder is rotatably connected with the inner side of the second waist joint plate 33, and the other end of the second knee joint cylinder is rotatably connected with the front side of the knee joint. Two ends of the first ankle joint cylinder 54, the second ankle joint cylinder 55 and the third ankle joint cylinder 59 are respectively rotatably connected with the knee joint connecting plate 53 and the foot 56; wherein one end of the second ankle joint cylinder 55 and one end of the third ankle joint cylinder 59 are rotatably connected with the front side of the knee joint connecting plate 53, and the other ends are rotatably connected with the rear side of the foot 56; one end of the ankle joint cylinder 54 is rotatably connected to the rear side of the knee joint connecting plate 53, and the other end thereof is rotatably connected to the front side of the foot 56. The hip joint cylinder I48, the hip joint cylinder II 49, the hip joint cylinder III 50 and the knee joint cylinder II 57 drive the hip joint connecting plate 51 to move along the X, Y, Z axis and rotate around the X, Y, Z axis relative to the waist joint plate II 33. The first knee joint cylinder 52, the second knee joint cylinder 57 and the third knee joint cylinder 58 drive the knee joint connecting plate 53 to move along the X, Y, Z axis and rotate around the X, Y, Z axis relative to the hip joint connecting plate 51. The first ankle joint air cylinder 54, the second ankle joint air cylinder 55 and the third ankle joint air cylinder 59 drive the foot 56 to move along the X, Y, Z axis and rotate around the X, Y, Z axis relative to the knee joint connecting plate 53. Because the first hip joint cylinder 48, the second hip joint cylinder 49, the third hip joint cylinder 50, the first knee joint cylinder 52, the second knee joint cylinder 57, the third knee joint cylinder 58, the first ankle joint cylinder 54, the second ankle joint cylinder 55 and the third ankle joint cylinder 59 are irregularly distributed in space, the lower limb joint has larger space accessibility and avoids singular points.
The computer 60 communicates with an upper limb joint control system 61, a waist joint control system 62 and a lower limb joint control system 63 through a Modbus or a CAN bus. The upper limb joint control system 61, the waist joint control system 62, and the lower limb joint control system 63 try to collect data of the pressure sensors and the angle sensors.
The invention realizes the control of the pose of the humanoid robot by controlling each air cylinder and pneumatic muscle, can dynamically and vividly simulate the action of human joints, and can realize accurate track control.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A humanoid robot system based on pneumatics, comprising:
the upper limb joint (1) is connected with the waist joint (2), and the lower limb joints (3) are symmetrically arranged below the waist joint (2);
one side of a shoulder joint support piece (5) of the upper limb joint (1) is rotatably connected with a shoulder joint cylinder I (4), a shoulder joint cylinder II (6) and a shoulder joint cylinder III (7), the other side of the shoulder joint support piece is rotatably connected with a shoulder joint cylinder IV (8), a shoulder joint cylinder V (9) and a shoulder joint cylinder VI (10), the shoulder joint cylinder I (4), the shoulder joint cylinder II (6) and the shoulder joint cylinder III (7) are rotatably connected with a shoulder joint end plate (24), the shoulder joint cylinder IV (8), the shoulder joint cylinder V (9) and the shoulder joint cylinder VI (10) are rotatably connected with the shoulder joint end plate (24) at the other side, the shoulder joint end plate (24) is respectively and fixedly connected with an elbow joint side panel I (16) and an elbow side panel II (22), and a cylinder body of a swing cylinder I (17) is fixed on the elbow joint side panel I (16), the rotating shaft of the first swing cylinder (17) is fixed on a second belt wheel (15), the second belt wheel (15) is connected with the first belt wheel (11) through a first belt (12), the first belt wheel (11) is rotatably connected to a third belt wheel (19), the second elbow joint side panel (22) is fixedly connected with the cylinder body of the second swing cylinder (25), the rotating shaft of the second swing cylinder (25) is connected with a fourth belt wheel (23), the fourth belt wheel (23) is connected with a third belt wheel (20) through a second belt (21), the third belt wheel (20) is rotatably connected to a third elbow joint plate (19), the elbow joint plate (19) and the shoulder joint end panel (24) are respectively rotatably connected with the two ends of the first elbow joint cylinder (13) and the second elbow joint cylinder (14), and the elbow joint plate (19) is fixedly connected with a gas claw (18);
the shoulder joint support (5) is fixedly connected with a waist joint plate III (34), the waist joint plate III (34) is respectively and rotatably connected with a waist joint pneumatic muscle I (26), a waist joint pneumatic muscle V (35) and a waist joint pneumatic muscle VI (36), the waist joint pneumatic muscle I (26), the waist joint pneumatic muscle V (35) and the waist joint pneumatic muscle VI (36) are respectively and rotatably connected with a waist joint plate IV (37), the waist joint plate IV (37) is fixedly connected with a waist joint cylinder I (27), the waist joint plate III (34) is rotatably connected with a waist joint cylinder I (27), the waist joint plate IV (37) is rotatably connected with a waist joint pneumatic muscle II (28), a waist joint pneumatic muscle III (29) and a waist joint pneumatic muscle VII (38), the waist joint pneumatic muscle II (28), the waist joint pneumatic muscle III (29) and the waist joint pneumatic muscle VII (38) is rotatably connected with a waist joint plate I (30), a waist joint cylinder III (39) is fixedly connected to the waist joint plate I (30), the waist joint cylinder III (39) is rotatably connected to the waist joint plate IV (37), the waist joint plate I (30) is rotatably connected to a waist joint pneumatic muscle IV (31), a waist joint pneumatic muscle VIII (40) and a waist joint pneumatic muscle IX (41), the waist joint pneumatic muscle IV (31), the waist joint pneumatic muscle VIII (40) and the waist joint pneumatic muscle IX (41) are rotatably connected to a waist joint plate II (33), the waist joint plate II (33) is fixedly connected to a waist joint cylinder II (32), the waist joint cylinder II (32) is rotatably connected to a waist joint plate I (30), and two joint pneumatic muscles I (42), two joint pneumatic muscles II (45) and two joint pneumatic muscle III (46) are respectively rotatably connected between the waist joint plate I (30) and the waist joint plate III (34), the third waist joint plate (34) and the second waist joint plate (33) are respectively in rotatable connection with a first three-joint pneumatic muscle (43), a second three-joint pneumatic muscle (44) and a third three-joint pneumatic muscle (47);
the waist joint plate II (33) is rotatably connected with a hip joint cylinder I (48), a hip joint cylinder II (49), a hip joint cylinder III (50) and a knee joint cylinder II (57) of a lower limb joint (3) at one side, the hip joint cylinder I (48), the hip joint cylinder II (49) and the hip joint cylinder III (50) are rotatably connected with a hip joint connecting plate (51), the hip joint connecting plate (51) is rotatably connected with a knee joint cylinder I (52) and a knee joint cylinder III (58), the knee joint cylinder I (52) and the knee joint cylinder III (58) are rotatably connected with a knee joint connecting plate (53), the knee joint connecting plate (53) is rotatably connected with a knee joint cylinder II (57), the knee joint connecting plate (53) is rotatably connected with an ankle joint cylinder I (54), an ankle joint cylinder II (55) and an ankle joint cylinder III (59), and the ankle joint cylinder I (54), The ankle joint cylinder II (55) and the ankle joint cylinder III (59) are rotatably connected with the foot (56);
and a computer (60), wherein the computer (60) controls the upper limb joint control system (61), the waist joint control system (62) and the lower limb joint control system (63) respectively.
2. A pneumatically based humanoid robot system according to claim 1, characterized in that the shoulder joint support (5) is i-shaped with connection positions on both sides of the vertical plate.
3. The pneumatic-based humanoid robot system of claim 1, wherein the shoulder joint cylinder I (4), the shoulder joint cylinder II (6) and the shoulder joint cylinder III (7) are connected in parallel and uniformly distributed across, and the shoulder joint cylinder IV (8), the shoulder joint cylinder V (9) and the shoulder joint cylinder VI (10) are connected in parallel and uniformly distributed across.
4. The pneumatic humanoid robot system as claimed in claim 1, wherein the elbow joint plate (19) is U-shaped, with a first pulley (11) and a third pulley (20) connected to each side, and a gas claw (18) fixed to the side with the bottom facing outward.
5. The pneumatic-based humanoid robot system of claim 1, wherein the first waist joint pneumatic muscle (26), the fifth waist joint pneumatic muscle (35) and the sixth waist joint pneumatic muscle (36) are distributed around the first waist joint cylinder (27), the second waist joint pneumatic muscle (28), the third waist joint pneumatic muscle (29) and the seventh waist joint pneumatic muscle (38) are distributed around the third waist joint cylinder (39), and the fourth waist joint pneumatic muscle (31), the eighth waist joint pneumatic muscle (40) and the ninth waist joint pneumatic muscle (41) are distributed around the second waist joint cylinder (32).
6. The pneumatic-based humanoid robot system of claim 1, wherein the two-joint pneumatic muscle one (42), the two-joint pneumatic muscle two (45) and the two-joint pneumatic muscle three (46) are uniformly distributed around the waist joint plate one (30) and the waist joint plate three (34), and the three-joint pneumatic muscle one (43), the three-joint pneumatic muscle two (44) and the three-joint pneumatic muscle three (47) are uniformly distributed around the waist joint plate three (34) and the waist joint plate two (33).
7. The pneumatic-based humanoid robot system of claim 1, wherein the first ankle joint cylinder (54), the second ankle joint cylinder (55) and the third ankle joint cylinder (59) are arranged in a crossed manner, and the first hip joint cylinder (48), the second hip joint cylinder (49) and the third hip joint cylinder (50) are arranged in a crossed manner.
8. The pneumatic-based humanoid robot system of claim 1, wherein the upper limb joint control system (61) comprises a first shoulder joint cylinder (4), a second shoulder joint cylinder (6), a third shoulder joint cylinder (7), a fourth shoulder joint cylinder (8), a fifth shoulder joint cylinder (9), a sixth shoulder joint cylinder (10), a first elbow joint cylinder (13), a second elbow joint cylinder (14), a first swing cylinder (17), an air claw (18), and a second swing cylinder (25);
the waist joint control system (62) comprises a first waist joint pneumatic muscle (26), a first waist joint cylinder (27), a second waist joint pneumatic muscle (28), a third waist joint pneumatic muscle (29), a fourth waist joint pneumatic muscle (31), a second waist joint cylinder (32), a fifth waist joint pneumatic muscle (35), a sixth waist joint pneumatic muscle (36), a seventh waist joint pneumatic muscle (38), a third waist joint cylinder (39), a eighth waist joint pneumatic muscle (40), a ninth waist joint pneumatic muscle (41), a first two-joint pneumatic muscle (42), a first three-joint pneumatic muscle (43), a second three-joint pneumatic muscle (44), a second two-joint pneumatic muscle (45), a third two-joint pneumatic muscle (46) and a third three-joint pneumatic muscle (47);
the lower limb joint control system (63) comprises a first ankle joint cylinder (54), a second ankle joint cylinder (55), a third ankle joint cylinder (59), a first hip joint cylinder (48), a second hip joint cylinder (49), a third hip joint cylinder (50), a first knee joint cylinder (52), a second knee joint cylinder (57) and a third knee joint cylinder (58).
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| CN105083411B (en) * | 2015-08-14 | 2017-10-03 | 哈尔滨工业大学 | A kind of apery lower limb of Pneumatic artificial muscle driving |
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