The Design Of Humanoid Arm Driven By Pneumatic Artificial Muscles

This dissertation is mainly focus on the design of humanoid arm actuated by a new type of driving system.With the demand of flexible driving of Bionic-Robot as an entry point,exploring the practical application of pneumatic artificial muscles and finally developing humanoid arm driven by pneumatic artificial muscles technology.Humanoid arm contains shoulder,elbow,wrist and bionic hand four parts.The shoulder joint has two degrees of freedom and is driven by two motors;the elbow joint has one degree of freedom and it is driven by three pneumatic artificial muscles;the wrist joint has two degrees of freedom and is driven by four pneumatic artificial muscles;the under-actuated bionic hand has two degrees of freedom and is driven by six pneumatic artificial muscles.The entire transmission system using wirerope or fishing line,pneumatic artificial muscles and wirerope transmission means the flexibility of the humanoid arm to maximize,the machine with rope tension device also enables the arm to achieve detailed operation.Ultimately the total weight of the humanoid arm driven by 12 pneumatic artificial muscles is less than 8 kg,according to the design requirements it can grasp the items within 0.5kg.Artificial Pneumatic muscles are simple in structure and have good response characteristics.They can be used not only as bionic mechanisms,but also in industrial and control applications,such as smart equipment,aerospace and automated production.This article first describes the development of artificial muscle,and analyzes the mathematical model of the pneumatic artificial muscle.Secondly,it explains the design and analysis process of the entire humanoid arm,and analyzes the kinematics of the arm and Bionic-Hand respectively.Then introduces the pneumatic components,finally install the machine,debug parameters and verify the theory.