七自由度气动人工肌肉机械手臂的设计及研究

设计了一种气动肌肉驱动的七自由度仿人机械手臂。肩部采用球绞形式，实现类人肩关节旋内／旋外、屈／伸及内收／外展三个自由度，旋转运动范围为-39．5～39．5°，屈伸运动范围为－44．5～44．5°，收展运动范围为0～35．0°。肘部和腕部均采用虎克铰形式，实现肘关节的屈／伸、旋内／旋外以及腕关节的内收／外展、屈／伸，其中肘关节旋转运动范围为～39．5～39．5°，屈伸运动范围为－60．5～32．5°；腕关节收展运动范围为～70．5～70．5°，抬伸运动范围为-39．5～39．5°。对机构进行了仿真分析，并搭建了手臂实物系统进行测试。实验结果表明，该手臂重量轻，受控性好，能够很好地实现人类关节的柔顺运动。

Design and Research of Seven Degrees of Freedom Robotic Arm Driven by Pneumatic Artificial Muscle

A seven DOF humanoid robotic arm driven by pneumatic artificial muscles is designed. The shoulder of the arm uses a sphere wring to accomplish the 3 rotation DOF, which are rotation, flexion and extension. And the motion rang is （-39.5°, 39.5°）, （-44. 5°, 44. 5°）, （0°, 35.0°）, respectively. While the elbow and the wrist respectively adopt a Hooke＇s joint to make the two rotations come true. The rotation motion rang of elbow is （-39. 5°, 39.5°）, extension motion rang is （-60. 5°, 32.5°）, The flexion motion rang of wrist is （-70. 5°, 70. 5°）, extension motion rang is （-39.5°, 39.5°）. The model is simulated and analysed in three-dimensional modeling software and the real arm is established and tested, proving to be light, soft and convenient to be controlled, it＇s able to achieve the compliant movement as well as the human arm.