CN204414097U - A kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle - Google Patents
A kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle Download PDFInfo
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Abstract
The utility model relates to a kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle.The manipulator that object is to provide should possess some base functions of staff, and there is practicality, submissive, safety, volume are little, light and handy, easy to control and the simple feature of mechanism.Technical scheme is: a kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle, comprises air-path control system; This Apery manipulator also comprises manipulator mechanism and artificial-muscle system.Manipulator mechanism comprises mechanical large arm, mechanical forearm, hand and five fingers; Described artificial-muscle system comprise some 3rd Pneumatic artificial muscles of driving device large arm and some 4th Pneumatic artificial muscles, driving device forearm some first Pneumatic artificial muscles, drive carpal some 5th Pneumatic artificial muscles and drive some second Pneumatic artificial muscles of five fingers.
Description
Technical field
The utility model relates to robot mechanical arm, is specifically related to a kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle.
Background technology
Along with the development of automation and interchangeable manufacturing, and the advantage of pneumatics itself, the research of Pneumatic manipulator gets more and more, and has achieved in fields such as bio-robot, Bionic medicine, service robots and apply widely.And along with the development of Robotics, not only wish that robot has the features such as security is high, precision is high, response is fast, bearing capacity is large, and good compliance can be had, particularly at bio-robot and healing robot and service robot, utility model have developed Pneumatic artificial muscle.Compared to traditional drives, Pneumatic artificial muscle drives has the advantages such as compliance is good, quality is light, power-weight ratio is large, safe and convenient to use.The robot arm that pneumatic muscles drives is the robot arm that a class has good submissive performance, security performance.
Pneumatic artificial muscle, as a kind of novel pneumatic apparatus, is mentioned by quilt " father of theory of mechanisms " Reuleaux in 1900 the earliest.Nineteen fifty-three, Morin devises Morin muscle.Nineteen fifties, a kind of pneumatic muscles that artificial limb can be driven to move of American physician Joseph L.Mckibben utility model, and called after Mckibben muscle.Mckibben muscle is most widely used.Large quantifier elimination is carried out to Pneumatic artificial muscle robot both at home and abroad: the people such as the Hannaford of Washington, DC university devise a copy man arm with 15 pneumatic muscles, adopt the spinal nerve network control of simulation, be used for studying the rudimentary neural reflex of the mankind and spinal cord control reflection; The Shadodow company of Britain has used tens of McKibben type artificial-muscles to devise bionic arm, the muscle that the installation site of every bar Pneumatic artificial muscle is corresponding to human arm matches, the actions such as it can realize elbow in the wrong as human arm and arm protracts, abduction; The Wei Yufen of Institutes Of Technology Of Nanjing devises and comprises forearm, wrist and hand three Pneumatic muscle flexible robot arm of part; The Sui Liming of Harbin Institute of Technology devises the seven degrees of freedom copy man arm driven by pneumatic muscles.But above-mentioned research does not all reach the practical stage, and structure is comparatively complicated, volume is also larger.
Utility model content
The purpose of this utility model is to provide a kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle; This manipulator should possess some base functions of staff, and there is practicality, submissive, safety, volume are little, light and handy, easy to control and the simple feature of mechanism.
The technical scheme that the utility model provides is: a kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle, comprises air-path control system; It is characterized in that this Apery manipulator also comprises manipulator mechanism and provides power and the artificial-muscle system controlled by described air-path control system for manipulator mechanism;
Described manipulator mechanism comprises the mechanical large arm be positioned at movably by shoulder joint and runing rest on fixed support, the mechanical forearm be positioned at movably by elbow joint in mechanical large arm, be positioned at hand on mechanical forearm and five fingers be positioned on palm in parallel movably movably by wrist joint and circular disk rack;
Described artificial-muscle system comprise some 3rd Pneumatic artificial muscles of driving device large arm and some 4th Pneumatic artificial muscles, driving device forearm some first Pneumatic artificial muscles, drive carpal some 5th Pneumatic artificial muscles and drive some second Pneumatic artificial muscles of five fingers.
One end of described mechanical large arm connects shoulder joint, and the other end of mechanical large arm connects elbow joint rotationally by Hooke's hinge; Described shoulder joint is positioned on runing rest movably by ball pivot, and runing rest is rotatably positioned on fixed support by jointed shaft again.
One end of described 3rd Pneumatic artificial muscle is rotatably positioned on fixed support, and the other end drives runing rest to rotate around hinge axes by Hooke's hinge; One end of described 4th Pneumatic artificial muscle is rotatably positioned on runing rest, and the other end drives shoulder joint and mechanical large arm around ball pivot center rotating by Hooke's hinge.
One end of described mechanical forearm is fixed on elbow joint, and the other end connects wrist joint rotationally by Hooke's hinge; One end of described 5th Pneumatic artificial muscle is rotatably positioned on elbow joint, and the other end drives wrist joint by Hooke's hinge.
One end of described first Pneumatic artificial muscle is rotatably positioned in shoulder joint, and the other end drives elbow joint by Hooke's hinge.
Described hand is positioned on the circular disk rack that is connected as a single entity with wrist joint by the second jointed shaft; One end of described second Pneumatic artificial muscle is fixed on this circular disk rack, and the other end connects steel wire.
Forefinger, middle finger, the third finger and little finger of toe in described five fingers, by several dactylus respectively by the ground hinged formation successively of proficiency spindle mutual axis being parallel, and parallel connection is hinged on palm rotationally.
Thumb in described five fingers, several dactylus are respectively by the ground hinged formation successively of a thumb axle mutual axis being parallel; This thumb is rotatably positioned on palm by cross axle again; An axis in described cross axle point with four in hinge axes vertical.
In two hinged ends of described dactylus, one of them hinged end fixes a pulley; This pulley is driven by described steel wire and then orders about dactylus motion, is connected respectively after the two ends of this steel wire pass through the thread eye in each dactylus, the directive wheel on palm and circular disk rack respectively with the other end of described second Pneumatic artificial muscle again; To realize the manual simulation's motion pointed.
Described circular disk rack is manufactured with several pilot holes for steel wire motion guide.
Operation principle of the present utility model is: when being filled with the compressed air of different pressures in each gas circuit, each Pneumatic artificial muscle exports different displacements, makes each joint of arm that corresponding rotation occur, or pulls steel wire, band movable pulley, makes each joint of finger that corresponding rotation occur.Therefore, realize rotational angle and the direction in each joint of manipulator by controlling Pneumatic artificial muscle air pressure inside, then through PID fuzzy tuning Adaptable System, and then make the motion of manipulator realize Self Adaptive Control, finally reach required locus.
The utility model adopt simple parallel institution and with Pneumatic artificial muscle as driver, in conjunction with air-channel system and control system, achieve the basic function of human arm and hand, thus lay a good foundation for substituting human arm and hand.Therefore, this Pneumatic artificial muscle multiple degrees of freedom Apery manipulator has practicality, submissive, safety, volume are little, mechanism is simple, the advantage such as light and handy, easy to control, meet the fields such as healing robot, bio-robot, service robot to the demand of its performance, can extensively use.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is one of perspective view of part body of the present utility model (removal hand).
Fig. 3 is the perspective view two of part body of the present utility model (removal hand).
Fig. 4 is the perspective view three of part body of the present utility model (removal hand).
Fig. 5 is the perspective view of hand in the utility model.
Fig. 6 is the perspective view of forefinger in the utility model.
Fig. 7 is the perspective view of thumb in the utility model.
Fig. 8 is the power transmission relationship schematic diagram of each finger in the utility model.
Fig. 9 is air-path control system schematic diagram in the utility model.
Figure 10 is control flow chart of the present utility model.
In figure: 1. fixed support, 2. shoulder joint, 3. runing rest, 4. the first Pneumatic artificial muscle, 5. elbow joint, 6. wrist joint, 7. circular disk rack, 8. the second Pneumatic artificial muscle, 9. hand, 10. mechanical large arm, 11. mechanical forearms, 12. palms, 13. fingers, 14. little fingers of toe, 15. is nameless, 16. middle fingers, 17. forefingers, 18. thumbs, 19. directive wheels, 20. finger faggings, 21. finger axles, the nearly pulley of 22. finger, the nearly dactylus of 24. finger, 25. finger middle pulleys, 27. finger middle finger joints, 28. finger pulley far away, 30. finger dactylus far away, 31. bearings, 32. thumb faggings, 34. cross axles, the nearly dactylus of 35. thumb, 36. thumb middle pulleys, 38. thumb axles, 39. thumb middle finger joints, 40. thumb pulley far away, 42. thumb dactylus far away, 43. the 3rd Pneumatic artificial muscles, 44. the 4th Pneumatic artificial muscles, 45. Hooke's hinges, 46. the 5th Pneumatic artificial muscles, 47. compressed air source units, 48. pneumatic triple pieces, 49. proportional pressure valves, 50. magnetic valves, 51. Pneumatic artificial muscles, 52. data collecting cards, 53. computers, 55. thread eyes, 56. pilot holes, 57. steel wires.
Detailed description of the invention
Below in conjunction with embodiment shown in the drawings, concrete structure of the present utility model and operation principle are further described.
Pneumatic artificial muscle, as a kind of driver of novel compliance high power/weight ratio, has that volume is little, advantages of simple structure and simple.First, Pneumatic artificial muscle is similar to biological muscles, manipulator inside can be directly installed on, carry out mimic biology muscle, Pneumatic artificial muscle is all more very thin and light and handy as the robot mechanical arm profile of driver, simultaneously low compared to the robot mechanical arm rigidity of other type of drive, so class robot mechanical arm has security and compliance concurrently.In addition, according to features such as the shrinkage of pneumatic muscles and responses, make it move to move with human muscular closer to, thus realize Apery manipulator function, therefore can directly be used for driving.
As shown in the figure, the utility model air-path control system of comprising manipulator mechanism, the artificial-muscle system of power being provided for manipulator mechanism and artificial-muscle system is controlled.
In manipulator mechanism: mechanical large arm 10 is positioned on fixed support 1 by shoulder joint 2 and runing rest 3 movably, machinery forearm 11 is positioned in mechanical large arm by elbow joint 5 movably, hand 9 is positioned on mechanical forearm movably by wrist joint 6, comprises five of the nameless and little finger of toe of thumb, forefinger, middle finger and points parallel connection movably and be positioned on palm 12.
Fixed support 1 is connected to runing rest 3 by hinged (jointed shaft A); One end of machinery large arm 10 connects shoulder joint, and by the ball pivot B coordinated with shoulder joint, mechanical large arm is rotatably positioned on runing rest; The other end of machinery large arm is connected to elbow joint 5 rotationally by Hooke's hinge 45; One end of machinery forearm 11 is fixed on elbow joint, and the other end connects wrist joint 6 rotationally by Hooke's hinge D; Palm 9 is rotatably positioned on the fixed disc 7 be connected as a single entity with wrist joint by the second jointed shaft E.
The Structure type of forefinger 17, middle finger 16, the third finger 15 and little finger of toe 14 in described five fingers is same, and by several dactylus respectively by the axis being parallel ground hinged formation successively mutually of finger axle 21, and parallel connection is hinged on palm rotationally.For forefinger (see Fig. 6): several dactylus are by the finger axle successively nearly dactylus of the hinged finger be connected as a single entity 24, finger middle finger joint 27 and point dactylus 30 (forefinger is hinged with the finger fagging 20 be fixed on palm again) far away.
Thumb in described five fingers is then connected as a single entity respectively by thumb axle 38 mutual axis being parallel ground is hinged successively by several dactylus (showing in Fig. 7: several dactylus are followed successively by the nearly dactylus of thumb 35, thumb middle finger joint 39 and thumb dactylus far away 42), and this thumb is rotatably positioned by cross axle 34 again and (is positioned on the thumb fagging 32 fixing with palm) on palm; The axis of the axle (being positioned at an axle on thumb fagging) in described cross axle and four finger axle axes normal pointed.
Visible in Fig. 6: one end of finger fagging 20 (is wherein pointed between fagging and finger axle by the one end pointing axle 21 and the nearly dactylus 24 of finger is hinged and clamped bearing 31, the hinged end pointing nearly dactylus is fixed wtih the nearly pulley 22 of finger, points the axis of nearly pulley and the axis coaxle of finger axle 21).
The one end pointing nearly dactylus 24 (is wherein pointed between nearly dactylus and finger axle by the one end pointing axle 21 and finger middle finger joint 27 is hinged and is clamped bearing, the hinged end of finger middle finger joint is fixed wtih finger middle pulley 25, the axis of finger middle pulley and the axis coaxle of finger axle 21).
One end of finger middle finger joint 27 (is wherein pointed between middle finger joint and finger axle by the one end pointing axle 21 and finger dactylus 30 far away is hinged and is clamped bearing, the hinged end pointing dactylus far away is fixed wtih finger pulley 28 far away, points the axis of pulley far away and the axis coaxle of finger axle 21).
Visible in Fig. 7: one end of thumb fagging 32 is connected (wherein clamp bearing 31 between thumb fagging and cross axle, the hinged end of the nearly dactylus of thumb is fixed wtih thumb middle pulley 36) by one end of the nearly dactylus 35 of cross axle and thumb;
One end of the nearly dactylus of thumb (wherein clamps bearing between the nearly dactylus of thumb and thumb axle by one end of thumb axle 38 and thumb middle finger joint 39 is hinged, the hinged end of thumb middle finger joint is fixed wtih thumb middle pulley 36, thumb middle pulley axis and thumb axle axis coaxle);
One end of thumb middle finger joint (wherein clamps bearing between thumb middle finger joint and thumb axle by one end of thumb axle 38 and thumb dactylus far away 42 is hinged, the hinged end of thumb dactylus far away is fixed wtih thumb pulley 40 far away, thumb pulley axis far away and thumb axle axis coaxle).
In described artificial-muscle system: one end of some (showing 2 in figure) the 3rd Pneumatic artificial muscles 43 is rotatably positioned on fixed support, and the other end drives runing rest to rotate (rotary motion) around the axis of hinged A by Hooke's hinge; One end of some (showing 4 in figure) the 4th Pneumatic artificial muscles 44 is rotatably positioned on runing rest, and the other end drives shoulder joint and mechanical large arm around ball pivot center rotating (bending and stretching and motion of taking down the exhibits) by Hooke's hinge; One end of some (showing 4 in figure) first Pneumatic artificial muscles 4 is rotatably positioned in shoulder joint, and the other end drives elbow joint to rotate (bending and stretching and rotary motion) around Hooke's hinge by Hooke's hinge; One end of some (showing 4 in figure) the 5th Pneumatic artificial muscles 46 is rotatably positioned on elbow joint, and the other end drives wrist joint to rotate (lifting motion of stretching and take down the exhibits) around Hooke's hinge by Hooke's hinge; One end of some (in figure show 30) second Pneumatic artificial muscles 8 is fixed on this circular disk rack, the other end connect and the steel wire 57 that exerts a force to order about five described finger movements respectively.Above-mentioned being rotatably positioned all realizes by connecting Hooke's hinge.
Fig. 8 shows the annexation (for drawing is clear, only drawing the some steel wires in little finger of toe) of some steel wires in little finger of toe: all corresponding pulley that is wound around of every root steel wire is to drive; The directive wheel 19 on palm is walked around at the two ends of every root steel wire again after passing over the thread eye 55 of each dactylus bottom (being right side in figure) successively, the pilot hole 56 eventually passed on circular disk rack is connected with two second Pneumatic artificial muscles; Obviously, (second Pneumatic artificial muscle shrinks two second Pneumatic artificial muscle interoperations, another second Pneumatic artificial muscle extends) corresponding pulley rotation can be pulled, and then realize manual simulation's motion (6 second Pneumatic artificial muscles in Fig. 8 drive three pulley action of little finger of toe) of finger.
The air-path control system of Fig. 9 display, comprises compressed air source unit 47, pneumatic triple piece (air cleaner, pressure-reducing valve and oil sprayer) 48, proportional pressure valve 49, magnetic valve 50, data collecting card 52, computer 53.The annexation of former components is all identical with the aforementioned patent (ZL200910098976.6 and ZL201010148482.7) of applicant.
Computer 53 comes control ratio pressure valve 49 and magnetic valve 50 by data collecting card 52, regulate the motion in each joint of manipulator, and feed back to data collecting card 52 by pressure sensor, angular transducer, displacement transducer, again regulate the motion in each joint, thus realize precision high, respond fast control.Compressed air source unit 47 communicates with pneumatic triple piece 48, and being then communicated with proportional pressure valve 49, then is magnetic valve 50, is finally communicated with Pneumatic artificial muscle 51, and what control corresponding Pneumatic artificial muscle 51 by magnetic valve 50 enters venting.
Utilize C++Builder software programming program on computers, the fuzzy tuning adding pid parameter controls, set up control inerface, the operational order of input Pneumatic artificial muscle manipulator, proportional pressure valve and magnetic valve is regulated respectively by data collecting card D/A mouth and I/O mouth, thus control the air supply of each pneumatic muscles of air-channel system, the motion in each joint is regulated with this, and detect pressure condition in Pneumatic artificial muscle by pressure sensor, displacement transducer detects the output displacement of Pneumatic artificial muscle, the rotational angle in each joint of angular transducer inspecting manipuator, detected analog signal is fed back to data collecting card, change through A/D, input control interface after PID fuzzy tuning Adaptable System, again regulate the motion in each joint, thus reach precision controlling, and realize the Self Adaptive Control of whole robot movement.And utilize data glove, artificial experience, building database, the relevant data of task each completed for manipulator is stored in a database, manipulator is allowed to be in unceasing study, constantly progress, thus after being under the task that reply is different, directly manipulate manipulator by calling data database data, really realize the self adaptation apery function of manipulator.
The course of work of the present utility model is as follows:
(1) switch on power, open compressed air source unit, gas, by pneumatic triple piece, arrives proportional pressure valve.
(2) utilize C++Builder software, fuzzy controller, editor control interface, data collecting card to be set up with computer by USB and communicates, control the output voltage of its D/A mouth.
(3) by the output voltage control pressure proportioning valve of the D/A mouth of data collecting card, magnetic valve, and then the pressure of each Pneumatic artificial muscle inside in adjustment gas circuit, its length and pulling force are changed, in conjunction with corresponding parallel institution and cable tie movable pulley, regulate the motion in each joint of manipulator, and pass through pressure sensor, angular transducer, the analog signal of displacement transducer collection feeds back to data collecting card, change through A/D, after PID fuzzy tuning Adaptable System, again regulate the motion in each joint of manipulator, thus reach precision controlling, and realize the Self Adaptive Control of whole robot movement, and utilize data glove, artificial experience, building database.
(4) according to the locus requirement of Apery manipulator executing agency, wherein shoulder joint 2 is driven by three pairs of Pneumatic artificial muscles, elbow joint, wrist joint are driven by two pairs of Pneumatic artificial muscles respectively, and each finger and thumb are driven by three pairs of Pneumatic artificial muscles respectively.When being filled with the compressed air of different pressures in Pneumatic artificial muscle, shoulder joint, elbow joint, wrist joint, finger-joint can produce corresponding rotation.
(5) each Pneumatic artificial muscle internal gas pressure is regulated by control system, database, thus regulate shoulder joint, elbow joint, wrist joint, finger-joint, make the locus that the executing agency of Apery manipulator reaches required, complete its task, realize the self adaptation apery function of manipulator.
Claims (10)
1., based on a self adaptation multiple degrees of freedom Apery manipulator for Pneumatic artificial muscle, comprise air-path control system; It is characterized in that this Apery manipulator also comprises manipulator mechanism and provides power and the artificial-muscle system controlled by described air-path control system for manipulator mechanism;
Described manipulator mechanism comprises the mechanical large arm (10) be positioned at movably by shoulder joint (2) and runing rest (3) on fixed support (1), the mechanical forearm (11) be positioned at movably by elbow joint (5) in mechanical large arm, be positioned at hand (9) on mechanical forearm and five fingers be positioned on palm in parallel movably movably by wrist joint (6) and circular disk rack (7);
Described artificial-muscle system comprise some 3rd Pneumatic artificial muscles (43) of driving device large arm and some 4th Pneumatic artificial muscles (44), driving device forearm some first Pneumatic artificial muscles (4), drive carpal some 5th Pneumatic artificial muscles (46) and drive some second Pneumatic artificial muscles (8) of five fingers.
2. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 1, is characterized in that: one end of described mechanical large arm connects shoulder joint, and the other end of mechanical large arm connects elbow joint rotationally by Hooke's hinge; Described shoulder joint is positioned on runing rest movably by ball pivot (B), and runing rest is rotatably positioned on fixed support by jointed shaft (A) again.
3. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 2, it is characterized in that: one end of described 3rd Pneumatic artificial muscle is rotatably positioned on fixed support, the other end drives runing rest to rotate around hinge axes by Hooke's hinge; One end of described 4th Pneumatic artificial muscle is rotatably positioned on runing rest, and the other end drives shoulder joint and mechanical large arm around ball pivot center rotating by Hooke's hinge.
4. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 3, is characterized in that: one end of described mechanical forearm is fixed on elbow joint, and the other end connects wrist joint rotationally by Hooke's hinge (D); One end of described 5th Pneumatic artificial muscle is rotatably positioned on elbow joint, and the other end drives wrist joint by Hooke's hinge.
5. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 4, is characterized in that: one end of described first Pneumatic artificial muscle is rotatably positioned in shoulder joint, and the other end drives elbow joint by Hooke's hinge.
6. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 5, is characterized in that: described hand is rotatably positioned on the circular disk rack be connected as a single entity with wrist joint by the second jointed shaft (E); One end of described second Pneumatic artificial muscle is fixed on this circular disk rack, and the other end connects steel wire (57).
7. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 6, it is characterized in that: the forefinger (17) in described five fingers, middle finger (16), nameless (15) and little finger of toe (14), by several dactylus respectively by proficiency spindle (21) axis being parallel ground hinged formation successively mutually, and parallel connection is rotationally hinged on palm (12).
8. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 7, it is characterized in that: the thumb (18) in described five fingers, formed respectively by a thumb axle (38) mutual axis being parallel ground is hinged successively by several dactylus; This thumb is rotatably positioned on palm by cross axle (34) again; An axis in described cross axle point with four in hinge axes vertical.
9. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 8, is characterized in that: in two hinged ends of described dactylus, one of them hinged end fixes a pulley; This pulley is driven by described steel wire and then orders about dactylus motion, is connected respectively after the two ends of described steel wire pass through the thread eye (55) in each dactylus, the directive wheel (19) on palm and circular disk rack respectively with the other end of described second Pneumatic artificial muscle again; To realize the manual simulation's motion pointed.
10. the self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle according to claim 9, is characterized in that: described circular disk rack is manufactured with several pilot holes for steel wire motion guide (56).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589310A (en) * | 2014-12-29 | 2015-05-06 | 浙江理工大学 | Self-adaption MDOF (Multi-Degree Of Freedom) humanoid manipulator based on pneumatic artificial muscle |
| CN105150190A (en) * | 2015-07-22 | 2015-12-16 | 广州大学 | Six-freedom-degree bionic mechanical arm based on pneumatic muscle |
| CN107972014A (en) * | 2017-12-15 | 2018-05-01 | 中国科学院沈阳自动化研究所 | A kind of bionic arm of Pneumatic artificial muscle driving |
| CN108927787A (en) * | 2017-05-27 | 2018-12-04 | 魏相东 | Artificial-muscle and emulation arm |
-
2014
- 2014-12-29 CN CN201420851664.4U patent/CN204414097U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589310A (en) * | 2014-12-29 | 2015-05-06 | 浙江理工大学 | Self-adaption MDOF (Multi-Degree Of Freedom) humanoid manipulator based on pneumatic artificial muscle |
| CN104589310B (en) * | 2014-12-29 | 2016-08-24 | 浙江理工大学 | A kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle |
| CN105150190A (en) * | 2015-07-22 | 2015-12-16 | 广州大学 | Six-freedom-degree bionic mechanical arm based on pneumatic muscle |
| CN108927787A (en) * | 2017-05-27 | 2018-12-04 | 魏相东 | Artificial-muscle and emulation arm |
| CN107972014A (en) * | 2017-12-15 | 2018-05-01 | 中国科学院沈阳自动化研究所 | A kind of bionic arm of Pneumatic artificial muscle driving |
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