Statics analysis of a bionic shoulder joint robot driven by pneumatic artificial muscle

Yu Liu; Tao Wang; Wei Fan; Yu Wang; Qing Shan Huang

doi:10.15918/j.tbit1001-0645.2015.06.012

Statics analysis of a bionic shoulder joint robot driven by pneumatic artificial muscle

Yu Liu, Tao Wang^*, Wei Fan, Yu Wang, Qing Shan Huang

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

Wire driven parallel robot, in which wire was used to replace the link of parallel robot, was developed from parallel robot and serial wire driven robot. This type of robot combines the advantages of the parallel mechanism and the cable driven. In this paper, a new type of wire driven bionic shoulder joint robot with a spherical hinge was proposed. Driven by a group of pneumatic artificial muscle, the robot can spatially rotate in three axis' rotation. Compared with the other parallel robot, this robot has more advantages. The configuration and statics were described. The study results prove that this robot can realize more moving modes. Hence, the broad application of this robot is made possible.

Original language	English
Pages (from-to)	607-611
Number of pages	5
Journal	Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
Volume	35
Issue number	6
DOIs	https://doi.org/10.15918/j.tbit1001-0645.2015.06.012
Publication status	Published - 1 Jun 2015

Keywords

Cable driven
Parallel robot
Pneumatic artificial muscle (PMA)

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10.15918/j.tbit1001-0645.2015.06.012

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abstract = "Wire driven parallel robot, in which wire was used to replace the link of parallel robot, was developed from parallel robot and serial wire driven robot. This type of robot combines the advantages of the parallel mechanism and the cable driven. In this paper, a new type of wire driven bionic shoulder joint robot with a spherical hinge was proposed. Driven by a group of pneumatic artificial muscle, the robot can spatially rotate in three axis' rotation. Compared with the other parallel robot, this robot has more advantages. The configuration and statics were described. The study results prove that this robot can realize more moving modes. Hence, the broad application of this robot is made possible.",

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AU - Wang, Tao

AU - Fan, Wei

AU - Wang, Yu

AU - Huang, Qing Shan

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AB - Wire driven parallel robot, in which wire was used to replace the link of parallel robot, was developed from parallel robot and serial wire driven robot. This type of robot combines the advantages of the parallel mechanism and the cable driven. In this paper, a new type of wire driven bionic shoulder joint robot with a spherical hinge was proposed. Driven by a group of pneumatic artificial muscle, the robot can spatially rotate in three axis' rotation. Compared with the other parallel robot, this robot has more advantages. The configuration and statics were described. The study results prove that this robot can realize more moving modes. Hence, the broad application of this robot is made possible.

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Statics analysis of a bionic shoulder joint robot driven by pneumatic artificial muscle

Abstract

Keywords

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