Research of a Robot Upper Limb and it’s Pneumatic Balance Design

摘要

In order to meet the demands for dextrous robotic limbs in such fields as the dangerous rescue, the disabled people assistance, and the industrial production line, we carry out the research about a robot upper limb which is composed of 6 DOFs and has the ability of finishing complex movements instead of a real upper limb. A virtual prototype of the robot upper limb is designed for analyzing the system comprehensively, and an optimal pneumatic balance design is studied for the sake of decreasing the output torque and the dimensions of the robot upper limb. Meanwhile, simulation experiments for the limb with pneumatic balance design and without pneumatic balance design have been finished, and the results showed that the performance of the limb with pneumatic balance design is better.