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

摘要

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.