液压人造肌肉驱动的柔性七自由度动力软机器人设计

2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI:10.1109/mhs53471.2021.9767141

Yunhao Feng, T. Ide, Hiroyuki Nabae, G. Endo, R. Sakurai, Shingo Ohno, K. Suzumori

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引用次数: 0

摘要

一种具有柔顺结构的轻量液压人工肌肉可以在施加压力时产生强大的收缩力。本研究开发的液压人工肌肉驱动的7自由度动力软机械臂，在表现出接近人类的特征的同时，有可能达到足够的强度和柔软度。肩关节、肘关节和腕关节采用两个对称对抗关节、两个不对称对抗关节、两个旋转钢丝-滑轮驱动对抗关节和一个单肌肉驱动关节。该结构共使用了29块液压肌肉。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of a Compliant 7-DoF Power Soft Robot driven by Hydraulic Artificial Muscles

A lightweight hydraulic artificial muscle with a compliant structure can generate a strong contraction force with a high application pressure. The 7-DOF power soft robot arm driven by hydraulic artificial muscles developed in this study can potentially achieve both sufficient strength and softness while exhibiting characteristics close to those of humans. Two symmetrical antagonistic joints, two asymmetrical antagonistic joints, two rotational wire-pulley drive antagonistic joints, and a single-muscle drive joint are used for the shoulder, elbow, and wrist parts. A total of 29 hydraulic muscles were used in the structure.

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2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)

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