Humanoid robot system based on pneumatic muscles and air cylinders
The invention discloses a humanoid robot system based on pneumatic muscles and air cylinders. The pneumatic muscles and the air cylinders are used for driving shoulder joints, elbow joints, a waist joint, a hip joint, knee joints and ankle joints of a humanoid robot to move. The robot is mainly comp...
Saved in:
Main Authors | , , , , , , , , , |
---|---|
Format | Patent |
Language | Chinese English |
Published |
31.08.2018
|
Subjects | |
Online Access | Get full text |
Cover
Loading…
Summary: | The invention discloses a humanoid robot system based on pneumatic muscles and air cylinders. The pneumatic muscles and the air cylinders are used for driving shoulder joints, elbow joints, a waist joint, a hip joint, knee joints and ankle joints of a humanoid robot to move. The robot is mainly composed of a skull, vertebrae, ribs, humeri, radii, fixed parts, thighbones, fibulae, the pneumatic muscles, the air cylinders and feet. The shoulder joints, the elbow joints, the waist joint, the hip joint, the knee joints and the ankle joints respectively have three, three, four, three, three and four degrees of freedom, the whole system has 34 degrees of freedom, the shoulder joints are distributed and driven in a flexible redundant form by nine pneumatic muscles from the vertebrae, and talocrural joints are formed by a parallel mechanism which is supported by the middle air cylinder of three air cylinders uniformly distributed on the periphery, so that the free switching of rotation and movement is realized. The h |
---|---|
Bibliography: | Application Number: CN201810344584 |