The invention discloses a six-freedom-degree bionic mechanical arm based on pneumatic muscle. The six-freedom-degree bionic mechanical arm comprises a frame, a shoulder joint, an elbow joint, a wrist joint and a mechanical palm. The shoulder joint, the elbow joint, the wrist joint and the mechanical palm are sequentially connected and fixed to the frame. Moreover, the pneumatic muscle serves as a driver. Pulley components are used for achieving swinging and rotation of the joints. The six-freedom-degree bionic mechanical arm is small in size, high in flexibility and high in bionic degree.

Six-freedom-degree bionic mechanical arm based on pneumatic muscle

The invention relates to a 2-DOF flexible mechanical arm based on an antagonism type variable stiffness actuator. The 2-DOF flexible mechanical arm comprises a mounting base board, elbow joint driving devices, shoulder joint driving devices and a bionic arm, and the elbow joint driving devices, the shoulder joint driving devices and the bionic arm are arranged on the rear portion of the mounting base board correspondingly. The elbow joint driving devices and the shoulder joint driving devices are based on the antagonism type variable stiffness actuator, so that stiffness is variable when two shafts of two flexible mechanical arms are driven. In application occasions relating to man-machine interaction, the stiffness can be changed with working scenes, the safety of operators is sufficiently improved, and the 2-DOF flexible mechanical arm is of profound significance in research and development of service-oriented robots.

2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator

The invention discloses a recovery device for exercising the shoulder joint movement capability and self strength of arms The recovery device comprises a support frame and a recovery training machine, wherein the recovery training machine comprises an arm exercising mechanism, a shoulder joint exercising mechanism, a self strength measuring mechanism and a control system, and the support frame and the arm exercising mechanism are connected with a universal connection structure; the shoulder joint exercising mechanism comprises a swing direction control mechanism, a travelling mechanism, a circling angle control mechanism and a support base with a spherical groove, and the swing direction control mechanism comprises a swing control motor and a rotary disc; the travelling mechanism comprises a travelling motor, a connecting frame and an elastic rubber wheel arranged on a main shaft of the travelling motor, the lower end of the connecting frame is fixedly connected with the travelling motor, and the upper end of the connecting frame is hinged to the rotary disc; the cycling angle control mechanism consists of an air cylinder The recovery device provided by the invention can be used for training the shoulder joint, and has the advantages of large movement range, multiple movement styles, and the like

Recovery device for exercising shoulder joint movement capability and self strength of arms

The invention discloses a rehabilitation device capable of realizing comprehensive self-training for motion ability of upper limbs. The rehabilitation device comprises a support and a rehabilitation trainer, wherein the rehabilitation trainer comprises an arm training mechanism, a palm training mechanism, a shoulder joint training mechanism, an independent applied force measuring mechanism and a control system, the support is connected with the arm training mechanism through a universal connecting structure, and the shoulder joint training mechanism is connected with the bottom of the arm training mechanism; the palm training mechanism is mounted at the tail end of the arm training mechanism, and the independent applied force measuring mechanism is mounted on the side face of the arm training mechanism. The rehabilitation device can not only train shoulder joints, arms and wrists, but also determine the assistance degree for a patient according to the degree of active participation of the patient, thereby giving full play to activity of the patient and improve the function recovery speed and effect of the patient; the device has the advantages of large range of motion, various action styles and so on.

Rehabilitation device capable of realizing comprehensive self-training for motion ability of upper limbs

The invention belongs to the technical of robots and particularly relates to a multi-degree-of-freedom simple mechanical arm based on artificial muscle (IPMC) driving. The multi-degree-of-freedom simple mechanical arm comprises a rotating part, an extending-retracting part and a grabbing part. The rotating part comprises a fixed shaft, a fixed disc, a rotating disc and rotating driving units. IPMC rotating assemblies in the rotating driving unit provide power for rotating driving of the arm. The extending-retracting part comprises a connecting shaft, a supporting disc and extending-retracting driving units. IPMC extending-retracting assemblies in the extending-retracting driving unit provide power for extending-retracting driving of the arm. The grabbing part comprises a palm plate, finger mechanisms and a thumb mechanism. IPMC rotating assemblies and IPMC bending assemblies of the finger mechanisms and the thumb mechanism provide power for rotating driving and bending driving of fingers correspondingly. The multi-degree-of-freedom simple mechanical arm has the beneficial effects that the IPMC-driven arm can make actions of rotating, extending-retracting, grabbing and the like of the arm, and has characteristics of simple structure, flexible operation, less energy consumption, low weight and the like.

Multi-degree-of-freedom simple mechanical arm based on artificial muscle (IPMC) driving

The utility model discloses a 6 -degree of freedom biomimetic mechanical arm based on pneumatic muscle, including frame, shoulder joint, elbow joint, wrist joint and mechanical palm, wherein above -mentioned shoulder joint, elbow joint, wrist joint and mechanical palm connect gradually and fix in the frame to adopt pneumatic muscle as the driver, realize articular swing and rotation by loose pulley assembly. The utility model discloses small, flexible height, bionical degree height.

Liu Changhong

Papers

Six-freedom-degree bionic mechanical arm based on pneumatic muscle

6 -degree of freedom biomimetic mechanical arm based on pneumatic muscle