CN110271020A - Bionic mechanical kinematic optimization method - Google Patents

Abstract

The bionic mechanical kinematics optimization method based on joint insertion points, including the following operations, obtains the natural limb movement database, and establishes a movement model for the natural limb. In the natural limb movement model, bones are used as connecting rods, joints are used as elastic hinges, and tendons are used as force output line, the parameters of each joint include tendon length l and joint stiffness, using forward and inverse kinematics to obtain the relationship between natural limb tendon movement △l and joint angle θ l=f(θ _i ); use PCA algorithm to obtain natural The dimensional direction of the first principal component of the limb, and the relationship between the tendon movement amount △l and the joint angle θ in this dimensional direction, and the proportional relationship between multiple joint angles when there are multiple joints. The present invention optimizes each joint into two insertion points and a stiffness value, through the optimal configuration of the insertion points, stiffness values and force output lines, the bionic machine can be restored to the natural movement of the natural limb in a given direction of freedom.

Description

Kinematics optimization method of bionic machinery

technical field

The invention relates to a bionic machine, in particular to a bionic machine kinematics optimization method.

Background technique

The main fields of bionic machinery research are biomechanics, control bodies and robots. Biomechanics studies the mechanical phenomena and laws of life, including biomaterial mechanics, biofluid mechanics and body mechanics. Control bodies and robots are engineering technology systems built based on knowledge learned from living things.

According to statistics, the hand is one of the most vulnerable human organs. Due to the criss-crossing of internal nerves, blood vessels, and small muscles, once damaged, the treatment is very difficult, and the functional recovery after treatment is not ideal. Moreover, not only damage to the hand itself will affect its motor function, but damage to the brain, spine, arms, etc. will also cause the loss of motor function of the hand when it does not affect the body of the hand.

The bionic hand is the key functional part of the increasingly developed bionic robot. The existing bionic hand mainly includes the following two types. The first type has relatively flexible functions, but the appearance is obviously mechanized. It is mainly composed of rigid connecting rods and hinges. Linkage between knuckles is realized by means of connecting rod transmission or pull wire. The advantage of this bionic hand is that all movable joints of the human hand can be split to achieve more degrees of freedom. The output force of the bionic hand using the link transmission method is relatively large, but the link mechanism has high rigidity, low flexibility, and heavy weight, and its appearance is quite different from that of a natural human hand. The pull-wire bionic hand has high flexibility, but the output finger force is small, and the pull wire is easy to break, which is prone to functional failure. The second category is silicone hands whose appearance, color and texture are highly similar to human hands. This kind of hand is molded by real hands and then poured with silicone. But this kind of hand only has a decorative function and has no real motor function.

Contents of the invention

The purpose of the present invention is to provide a bionic machine whose shape is close to that of a human limb or can be combined with a human limb that has lost its motor function, while taking into account flexibility and freedom of movement, and can output the force of the big finger.

A bionic machine with at least one driving motor, each driving motor has its own traction part, a force output line and a plurality of wire shafts are arranged between the drive motor and the traction part, and the force output line includes at least two segments that can be entangled with each other , one end of the force output line is fixed to the traction part, and the other end is fixed to the output end of the driving motor.

The torque output by the driving motor is transmitted to the force output wires, the force output wires are intertwined or loosened, and the length of the force output wires changes, so that the pulling part is displaced, and the entire pulled structure is bent or straightened. When the force output line is against the lead shaft, the force output line turns from the resisted lead shaft, which also drives the pulled mechanism to bend.

The first aspect of the present invention aims to provide a method for optimizing the position of the wire shaft and the spring stiffness to realize the harmonious biological force transmission of the mechanism movement, realize the natural movement conforming to the biomechanics, and avoid actions that violate the natural biological movement.

The guide wire shaft position optimization method can be used for human hands and/or arms with loss of motion function, manipulators and mechanical arms reconstructed with connecting rods and springs, etc. These structures are collectively referred to as pulled mechanisms in this article. The traction mechanism is virtualized as a link model with links and elastic hinges. For the manipulator and the manipulator, the connecting rods of the manipulator and the manipulator are the connecting rods, and the joints of the manipulator and the manipulator are elastic hinges. For the hand and arm that have lost their motor function, the bones of the hand are used as connecting rods, and the joints are used as elastic hinges.

As a preferred solution, obtain the natural limb motion database, and establish a motion model for the natural limb. In the motion model of the natural limb, bones are used as connecting rods, joints are used as elastic hinges, and tendons are used as force output lines. The parameters of each joint include tendon length l and joint stiffness, use forward and inverse kinematics to obtain the relationship l=f(θ _i ) between the tendon movement amount △l of the natural limb and the joint angle θ; use the PCA algorithm to obtain the dimension direction of the first principal component of the natural limb, and The relationship between the amount of tendon movement △l and the joint angle θ in the direction of this dimension, and the proportional relationship between multiple joint angles when there are multiple joints;

The motion model of the pulled structure is established, and the motion degree of freedom of the motion model is constrained in the dimension direction of the first principal component. The motion model includes connecting rods, elastic hinges between adjacent connecting rods, and force output lines. Each elastic hinge’s The parameters include the position of the two insertion points and the stiffness of the spring, and the length of the force output line between the two insertion points represents the length of the tendon;

Taking the spring stiffness and tendon length as input and the angle of each joint as output, the relationship between tendon movement △l and joint angle θ in the motion model and the relationship between tendon movement △l and joint angle θ in a natural limb The minimum gap is taken as the goal, the insertion point position and spring stiffness are continuously adjusted, and the calculation is iterative until the goal is achieved; the insertion point position and spring stiffness are output, and the wire axis position and spring stiffness optimization is completed.

The core of this method is to virtualize each joint as two insertion points and a joint stiffness value; the insertion point specifically represents the tendon length.

Further, the forward and inverse kinematics model obtains the relationship between the amount of tendon movement △l and the joint angle θ, and the forward kinematics model is: Among them, J represents the rotation transformation matrix, Indicates the amount of movement of the tendon in this dimension;

The inverse kinematics model is: J ⁺ represents the weighted rotation transformation matrix, and the weighted weight is W spring stiffness; when Get the relationship between tendon motion and joint angle.

Further, when there are multiple joints, the method of obtaining the proportional relationship between multiple joint angles is as follows: establish a graph of the relationship between the amount of tendon movement △l and the joint angle θ, take the length of the tendon l as the abscissa, and take the angle value as the ordinate , each joint angle has a curve in which the joint angle changes according to the length of the tendon in this coordinate system;

Select a joint as the reference joint, establish a two-dimensional coordinate system with the angle of the reference joint as the abscissa, and the angle value as the ordinate, and obtain the curve of each joint relative to the reference coordinate. The slope of the curve represents the angle of the joint and the reference joint. The proportional relationship between the angles. The closer the proportional relationship between the joint angle and the reference joint angle is to the angle proportional relationship obtained by PCA analysis, the closer the motion model is to the natural limb motion. If the proportional relationship between the joint angle and the reference joint angle is farther away from the angle proportional relationship obtained by PCA analysis, the relative position of the insertion point is adjusted with the goal of approaching the result obtained by PAC principal component analysis.

As a preferred solution, the traction mechanism is a finger, and a finger motion model is established. The finger includes the proximal phalanx-metacarpal joint MCP, the proximal phalanx-middle phalanx joint PIP and the middle phalanx-distal phalanx joint DIP, and each joint has its own Two insertion points.

The finger or bionic manipulator is simplified as a finger link model. In the link model, bones (such as phalanges, hand bones, phalanx models, etc.) are used as links, and the joints between adjacent bones are elastic hinges. The fingers and handles here can be the fingers and arms that have lost their motor functions in the self-heating human body, or they can be prosthetic limbs and prosthetic hands reconstructed with mechanical structures.

When applied to the finger structure of the manipulator, as a preferred solution, the stiffness W is the stiffness of the torsion spring, and the stiffness is used as a variable value, which together with the position of the insertion point is used as a variable input value.

Patients who have lost finger motor function, such as stroke patients, finger movement is no longer controlled by the brain, and the muscles at the joints of the fingers are stiff. The stiffness of the muscles at different joints of the same finger of the same patient is different, so when performing glove wire The joint stiffness W in the biomechanical model varies when the axis insertion point is optimized.

When applied to the finger structure of a human hand with loss of motor function, as a preferred solution, the stiffness W is the actual stiffness of the finger joint; the stiffness W is input as a fixed value, and only the position of the insertion point is used as a variable input value. Stiffness was measured for each finger of the patient prior to optimization calculations. The stiffness of the joints of the human hand can be given a known force, measured to obtain the angle of the joint C, calculated to obtain the joint stiffness W, and the existing technology is used to calculate the stiffness through the known force and angle.

Furthermore, when it is applied to the rehabilitation of a hand that has lost motor function, besides the loss of active grasping ability, the fingers usually also lose the ability to actively stretch. Therefore, the rehabilitation tool will also be provided with a mechanism for stretching the fingers, and the elastic member is used as a means for stretching the fingers. In the mechanism, when the force output line pulls the finger to grasp, the joint stiffness is the equivalent stiffness of the joint combined with the action of the elastic member. That is to say, when the elastic member is in working condition, the finger joint stiffness test is carried out.

As a preferred solution, the pulled mechanism is an arm, and the arm motion model includes an elbow joint; the elbow joint includes two insertion points and a joint stiffness.

The arm motion model includes the shoulder joint, which is a universal joint. First determine the motion direction of the shoulder joint. If the motion direction of the shoulder joint is the same as that of the elbow joint, the input values of the arm motion model include a pair of shoulder joint insertion points, shoulder joint stiffness , and a pair of elbow insertion point and elbow stiffness.

The second aspect of the present invention provides a structure of a bionic manipulator capable of realizing the natural grasp of a human-like hand and having a large grasping force.

A bionic manipulator has a palm, thumb, index finger, middle finger, ring finger and little finger, the index finger, middle finger, ring finger and little finger have respective proximal knuckles, middle knuckles and far knuckles, and the proximal knuckles are hinged to the palm; each joint Each finger has its own pair of wire shafts and a spring between the insertion points; each finger has its own drive motor and force output line, each force output line includes at least two segments that can be intertwined, each force output line in turn Through the wire shaft on the finger, the far end is fixed with the wire shaft on the far knuckle, and the other end of the line segment is fixed with the output end of the motor.

When the motor outputs torque, the wire segments are intertwined to form twisted wires, and the length of the wire segments becomes shorter to form a pulling force on the fingertips. Relative motion occurs between the knuckles of the fingers, and then the fingers are bent to realize the grasping movement of the hand. In the finger structure, except for the phalanges, hinges and springs, no settings are required

The insertion point and spring stiffness were determined by the optimization method described above, and the drive motor was used as the driver for the direction of the first principal component obtained by the PCA analysis. The role of the PCA analysis method is to perform dimensional analysis on the movement of the natural limbs, and then set the driver for the principal component direction obtained by the PCA analysis method when performing bionic mechanical design. The more drivers there are, the more comprehensive the natural body movement is restored.

Each finger is provided with a slot for accommodating the force output line, and a wire shaft is arranged along the wire slot, and the two ends of the wire shaft are respectively fixed with the wire slot; the force output line passes through the space between the wire shaft and the wire slot.

According to the physiological structure of the human hand, the kinematics of the fingers is simplified as a link mechanism driven by force output lines. The finger bones are considered as rigid links, and the ligaments and tendons connecting the finger bones are considered as rigid elastic hinges. The position of the insertion point of a series of wire shafts and the fixed point of the force output line determine how the force output line drives the finger to move. Therefore, it is necessary to model the force output line and the wire axis to figure out the relationship between the length of the force output line and the state of finger motion.

The position of the wire axis is determined after the insertion point and stiffness optimization calculation, and the position is stable, so that after the manipulator is manufactured, the bending degree of the finger can be controlled by calculating the length of the force output line, and the finger bending and hand grasping can be realized. Precise control of movements.

The wire shaft includes a mandrel and a wear-resistant sleeve, and the wear-resistant sleeve is sheathed outside the mandrel. The mandrel is fixed with the knuckle where it is located, and the wear-resistant sleeve is closely matched with the mandrel. The wear-resistant sleeve reduces the frictional force on the force output line, and lubricates the force output line, minimizes the wear and tear of the force output line, and prolongs the service life of the force output line.

The joint consists of a pair of insertion points and a torsion spring nestled within a pin. The torsion spring includes a helical spring part and legs extending outward at both ends, and each leg is respectively fixed to a corresponding knuckle. The stiffness of the torsion spring is used as the stiffness of the joint, and the torsion spring is easy to install.

And, or, a first reed is provided at the joint between the proximal knuckle and the palm, a second reed is provided at the joint between the proximal knuckle and the middle knuckle, and a second reed is provided at the joint between the middle knuckle and the far knuckle. A third reed is provided; a sensor is provided on each reed. The method and structure for collecting joint angles with reeds and sensors adopt the prior art.

The output shaft of the motor is provided with a wire passing hole, and the force output wire is a rope ring passing through the wire passing hole. The end of the rope loop combined with the motor output shaft is used as the proximal end, and the farthest end of the rope loop is fixed to the far knuckle. When the motor outputs torque, the rope loop forms a twisted pair, and the length of the force output line changes.

The force output line is a rope passing through the wire hole, the two ends of the rope are combined to form a closed loop of the force output line, and the two ends of the rope are fixed on the far knuckle.

The wire passing hole is a ring fixed on the output shaft of the motor, or a through hole opened on the output shaft of the motor.

The force output line is fixed on the far knuckle through a pressing piece; or, a distal wire shaft is arranged on the far knuckle, and the rope is wrapped around the distal wire shaft. The force output line bears the tension in the form of a twisted pair, and the rope loop is directly subjected to a small tensile deformation, which is not easy to break and has a large output force.

The far phalanx, middle phalanx and proximal phalanx are respectively composed of respective skeletons and flexible pads. Adjacent skeletons are connected by elastic hinges. Wire grooves are opened on the skeletons. Flexible pads cover the skeletons and flexible pads cover the wire grooves. The skeleton corresponds to the phalanges, and the flexible pads correspond to the muscles on the fingers. The flexible pad covers the wire groove to prevent foreign matter from entering the wire groove and affecting the force output wire.

Lubricating oil, or grease, or colloid, and, or protective film, and, or protective layer are arranged on the force output line. Coating a little oil on the force output line can enhance the toughness of the force output line and prolong the service life.

The rope ring formed after the force output wire passes through the wire hole is near the motor output shaft, and the wire segments of the rope ring are bundled together. For example, after the force output wire passes through the wire hole, the line segments on both sides of the wire hole are knotted. In this way, when the motor outputs torque, the starting point of each wire segment winding is the same, and the influence of the natural separation tendency of the wire segments on both sides of the wire hole on the torque transmission is avoided, and the effective utilization rate of the motor torque is improved, thereby improving through control. The motor is used to control the length of the force output line.

During the experiment, it was found that when the twisted wire is used as the force output line, the fingers will vibrate.

The third aspect of the present invention aims to provide a structure for preventing finger shaking of a bionic manipulator using a force output wire in the form of a twisted wire.

As a preferred solution, a beam splitter is provided on the passing path of the force output wire, and the wire segment wound by the force output wire is separated at the beam splitter. The torque output by the motor makes the line segments of the force output line entangled together, and then the length of the force output line changes, and the distance between the far knuckle and the palm changes, so the finger bends. The entanglement of the line segments will cause the fingers to vibrate during movement, which is not conducive to grasping.

The beam splitter is arranged near the knuckle; or the beam splitter is arranged on the palm, each finger has its own beam splitter, and the beam splitter is a rigid member. After the test, it was found that after the beam splitter is installed, the beam splitter concentrates the torque of the motor to the section of the motor, and the beam splitter interrupts the motor torque to make the wire segment active winding trend, and isolates the winding torque of the wire segment from centering the knuckles , The impact of the far knuckles, to avoid finger shaking. The rigid part referred to in this article refers to a stable shape and not easy to deform; it does not mean absolute rigidity or hardness.

Each finger is provided with a wire groove for accommodating force output wires, the beam splitter is located in the wire groove near the knuckle, and there is a gap between the beam splitter and the groove wall of the wire groove. The gap allows the force output line to pass through. After the line segment of the force output line is separated by the beam splitter, it continues to form a twisted wire in a natural winding manner at the far end of the beam splitter. The stress distribution of the naturally wound twisted wire is natural, and the fingers will not be affected by The output torque of the motor shakes.

The beam splitter is a streamlined bulkhead centered on the axial centerline of the trunking. The beam splitter can separate the entangled wire segments without blocking the transmission of force.

The distal end and the proximal end of the beam splitter respectively form smooth curved surfaces. The proximal and distal ends of the beamsplitter are domed. The smooth curved surface can not only guide the force output line smoothly, but also avoid mutual cutting between the beam splitter and the force output line, so as to ensure the service life of the force output line.

There are two wire shafts in the wire slot near the knuckle, and the beam splitter is located between the two wire shafts. The length of the distal knuckle is sufficient, and the beam splitter is more suitable to be placed between the two wire shafts than in the palm. In addition, the force output line also has requirements for the transmission distance of the torque. If the beam splitter is placed in the palm, the force output line affected by the motor torque is relatively short, and the force output line is prone to twisting. The beam splitter is placed near the knuckles, and the length of the force output line is suitable for the torque of the motor, which can not only effectively transmit the torque of the motor, but also reduce the problem of twisting of the force output line.

The splitter is equidistant from both lead shafts, or the splitter is close to the proximal lead shaft. In this way, the beam splitter has minimal influence on torque transmission and no finger vibrations.

The proximal knuckle and the beam splitter are integrated, and the beam splitter is higher than the wire shaft. The height of the beam splitter needs to be high enough so that the wire shaft limits the force output line to the area below the beam splitter, preventing the force output line from detaching from the beam splitter.

The fourth aspect of the present invention aims to provide a highly integrated bionic manipulator capable of integrating all driving motors in the palm.

As a preferred scheme, the palm includes the back of the hand skeleton and the palm of the hand skeleton, the back of the hand skeleton and the palm of the hand skeleton form an accommodation chamber, and the finger driving motor family is provided in the accommodation chamber, and the finger driving motor family includes index finger motors, middle finger motors, ring finger motors and little finger motors, and the index finger The output shafts of the motor, the middle finger motor, the ring finger motor and the little finger motor are respectively aligned with the corresponding fingers; the force output line is fixed with the output shaft of the finger drive motor; The guide wire shaft is located in the palm of your hand.

From the anatomical structure of the human metacarpal bone, it can be seen that there are five metacarpal bones in the human palm, each metacarpal bone is connected with its corresponding finger bone to form a line hinged by a joint, and the metacarpal bone is connected with the proximal knuckle through a joint. The index finger motor, middle finger motor, ring finger motor and little finger motor are set relative to the respective fingers according to the direction of the metacarpal bone, that is, in the palm model, the finger drive motor uses a miniature low-speed geared motor.

The fixed portion of the motor output shaft and the force output line is used as a wire shaft located in the palm of the proximal knuckle-metacarpal joint. In this way, after the position of the guide wire shaft in the palm is determined through optimal calculation, the position of the finger drive motor is also determined. In this solution, the threading of the force output line is simple, but the positioning accuracy of the finger drive motor is required to be high.

Alternatively, the proximal phalanx-metacarpal joint is located in the palm of the wire shaft between the finger drive motor and the proximal phalanx-metacarpal joint. That is to say, the position of the finger driving motor has nothing to do with the guide shaft of the proximal phalanx-metacarpal joint, only the force output line needs to pass through the guide wire shaft, which reduces the positioning accuracy requirements for the finger driving motor.

There are index finger motor installation positions, middle finger motor installation positions, ring finger motor installation positions and little finger motor installation positions in the accommodating cavity. Each motor installation position is fixed to correspond to the finger drive motor. through holes. Each motor installation position includes a pair of side plates and a far-end baffle respectively, through holes are arranged on the far-end baffle, and the near end of the motor installation position is open.

The index finger motor, the middle finger motor, the ring finger motor and the little finger motor are respectively provided with a limit assembly, and when the motor is installed at the motor installation position, the limit assembly limits the rotation of the motor relative to the motor installation position. For example, if the motor and the installation position of the motor are fixed by means of fasteners, bonding, etc., the fasteners and bonding structure can also be used as a limiting component. The motor for the index finger, the motor for the middle finger, the motor for the ring finger and the motor for the little finger have a deceleration mechanism, and the base frame of the deceleration mechanism has a stop surface matched with the installation position of the motor. For example, the reduction mechanism is a gear reducer, and the base frame of the gear reducer is in the form of a cuboid or cube. The side plate of the position is attached to limit the rotation of the finger drive motor relative to the motor installation position. The near end of the motor mounting position is set to be open, so that the motor can be put into the motor mounting position conveniently.

Articulation needs to be realized between the palm and the index finger, middle finger, ring finger and little finger, so connection parts with the index finger, middle finger, ring finger and little finger need to be set on the palm. The present invention provides the following structural solutions for connecting palms and fingers:

The first kind of structural scheme for connecting the palm and the fingers is as follows: the back frame of the hand is provided with a connecting part hinged with the fingers, and the palm frame is provided with a finger groove corresponding to the connecting part; The wire shaft is located between the finger drive motor and the corresponding finger. The finger slots on the palm frame provide the space needed for finger movement, and the finger slots on the palm frame also limit the limit position of finger movement, preventing excessive finger movement that does not conform to biological laws.

The connecting part is arranged at the far end of the back of the hand skeleton, and a distal plate is arranged between adjacent connecting parts, and the distal plate is flush with the distal edge of the back of the hand skeleton; the finger groove is arranged at the far end of the palm skeleton, and the adjacent fingers A partition is provided between the grooves, and when the back of the hand skeleton and the palm skeleton are combined, the partition and the distal plate separate the finger grooves.

All motor installation positions are set on the back frame of the hand, and the palm frame and the back frame are fixed by screws; countersunk screw holes are set on the palm frame, and screw holes are set in the back frame, and the screw holes correspond to the countersunk screw holes one by one. This structure is used in conjunction with the scheme that the position of the finger drive motor has nothing to do with the wire shaft of the proximal phalanx-metacarpal joint. Both the back frame and the palm frame are slotted inward from the edge to provide room for fingers to move. This slotting method is simple. , and the outer surfaces of the palm skeleton and the palm skeleton are smooth and beautiful. However, its disadvantage is that the wire shaft of the force output line needs to be set on the palm. When the force output line is threaded, it needs to pass through the wire shaft on the palm, and the threading is slightly complicated.

The second structural scheme for connecting the palm and the fingers is: this scheme is used in conjunction with the fixed part of the motor output shaft and the force output line as the wire shaft located in the palm of the proximal knuckle-metacarpal joint. The palm frame is provided with a connecting block hinged with the fingers. The connecting block is a protrusion extending far from the far end of the palm frame. There is a distance between the connecting blocks. The far end of the connecting block is provided with a hinge. ; A wire hole is provided on the palm frame, and each connection block corresponds to a wire hole.

The far end of the connection block is hinged with the finger. After the finger moves to the limit surface, the proximal knuckle cannot move closer to the palm. The limit surface prevents the finger from over-moving, so that the movement of the manipulator conforms to ergonomics. After the force output wire is drawn out from the motor output shaft, it passes through the wire hole, and thus passes through the wire shaft on the finger. The position of the wire hole on the output shaft of the motor and the position of the wire hole can also be used as the wire shaft to be included in the aforementioned optimal allocation scheme to calculate the optimal position, so as to obtain finger control with a high degree of bionics, biomechanics and biomotion morphology. Connecting blocks and corresponding finger drive motors form a metacarpal bone model.

The palm frame forms an accommodating chamber for the finger-driven motor family, the back of the hand frame is a cover plate, and the back of the palm frame is provided with an opening of the accommodating cavity that matches the back of the hand frame. There is a step between the connecting block and the palm frame, and the wire hole is set on the step. That is to say, the connection block is lower than the surface of the palm; when the proximal knuckle touches the limiting surface, there is still a gap between the proximal knuckle and the palm skeleton, leaving space for the soft pad of the proximal knuckle.

The limiting surface is an inclined plane, and the far end of the limiting surface is closer to the back of the hand than the proximal end. When the finger moves to contact with the limiting surface, the finger is slightly inclined, which is in line with the movement of a natural human finger.

The far end of the near phalanx and the far end of the middle phalanx are respectively provided with a knuckle limiting surface, and the phalanx limiting surface is an inclined plane which is far lower and near higher. It is low close to the back of the hand and high close to the palm of the hand. The purpose of the knuckle limiting surface is to make the knuckles slightly inclined when they are bent to the limit, which is in line with ergonomics and biomechanics.

The hinge portion of the proximal knuckle is located in the hinge portion of the connecting block, and the two hinge portions are in clearance fit, and a pin shaft runs through the two hinge portions, and a torsion spring is sleeved on the pin shaft; the edge of the hinge portion of the connecting block is arc-shaped. Rounded edges avoid interference during hinge movement.

The motor mounting position of the index finger driving motor, the motor mounting position of the middle finger driving motor, the motor mounting position of the ring finger driving motor and the motor mounting position of the little finger driving motor are respectively aligned with their respective connecting blocks, and the position of each motor mounting position is used as the motor output The position of the shaft, when optimizing the distribution of the guide wire shaft, the motor installation position is included in the optimal distribution plan as the guide wire shaft of the proximal knuckle-metacarpal joint in the palm. The motor installation position is used as the wire shaft on the force output line. After the position distribution is optimized, the bending action of the finger can be accurately controlled through the length of the force output line, and the bending shape of the finger has been determined in the process of optimizing the distribution, so as to avoid There are jarring movements of the fingers that do not conform to biomechanics.

Each motor mounting position includes a pair of side plates and a distal baffle. The side plates are perpendicular to the palm frame and connected to the palm frame. The through hole is arranged on the distal baffle. The proximal end of the motor mounting position is open; The driving motor is closely matched with the side plate.

The finger-driven motor family all use a motor with a reducer. The reducer has a square bracket, and the motor mounting position is tightly matched with the bracket of the reducer.

The advantage of this structural scheme of fingers and palms is that it is only necessary to install the finger drive motor, and the force output line directly passes through the wire hole on the palm frame, and then passes between the wire shaft and the finger frame in turn. The arrangement of the lines is simple.

The fifth aspect of the present invention provides a highly integrated thumb structure that can realize finger bending and thumb metacarpal swing.

As a preferred solution, the thumb has a thumb finger and a navicular bone, the thumb finger includes a thumb metacarpal, a proximal knuckle and a distal knuckle, the thumb metacarpal and the proximal knuckle are hinged by an elastic hinge, and the proximal knuckle and the distal knuckle are hinged by an elastic hinge There is a wire shaft on the thumb finger, and the thumb finger has a corresponding thumb drive motor, and the force output line passes through the wire shaft in turn after being drawn out from the thumb drive motor, and the distal end of the force output line is fixed on the distal knuckle; the navicular bone is hinged with the palm , the scaphoid has a scaphoid drive motor.

The scaphoid drive motor makes the scaphoid rotate around its hinge axis, thereby realizing the action of the thumb approaching the other four fingers, and the thumb cooperates with other fingers to realize the grasping action.

The proximal end of the force output line of the scaphoid passes through the output shaft of the scaphoid drive motor, and the far end is arranged on the scaphoid; an opening is arranged on the palm frame, and the thumb is in the area of the opening. The scaphoid driving motor makes the force output lines intertwine or loosen each other, thereby changing the distance between the force output lines, adjusting the angle of the scaphoid, and realizing the purpose of controlling the movement angle of the thumb relative to the palm. The advantage of this structure is that the structure is simple, the scaphoid motor can be inherited in the palm, and the requirements for the motor are relatively low, and the same type of motor as the finger drive motor can be used.

Or, the output shaft of the scaphoid motor is used as a hinge pin between the scaphoid and the palm. A fixed seat is arranged on the palm, and the fixed seat is fixed with the scaphoid motor shell; a through hole is arranged at one end of the scaphoid near the fixed seat, and the through hole is matched with the scaphoid motor shell; the other end of the scaphoid is connected with the scaphoid The output shaft of the motor is fixed. Like this, with the shell of scaphoid motor is fixed by fixed seat, and fixed seat and palm are fixed, and the output shaft output torque of scaphoid motor realizes the rotation of scaphoid relative to palm. Controlling the output rotation angle of the scaphoid motor can control the angle that the thumb is relatively close to or away from the palm. The control is simple and precise, but the volume of the motor is high, so a motor that can be integrated into the palm must be selected.

The opening in the palm frame provides room for the thumb to move. The bony structure of the thumb includes the proximal and distal knuckles, and the thumb metacarpal bone located in the palm. But the metacarpal bone of the thumb is different from the metacarpal bones of other four fingers. In the natural palm, the metacarpal bone of the thumb has a motion function. Therefore, in this solution, the metacarpal bone of the thumb is arranged outside the palm to realize the biological motion function of the metacarpal bone of the thumb. The thumb drive motor drives the swing of the thumb close to or away from the palm of the hand and the bending motion of the thumb through the force output line.

The opening on the palm frame is covered with soft pads. The soft pad is equivalent to the palm muscle, which plays the role of anti-slip and cushioning.

The metacarpal bone of the thumb is connected with the skeleton of the back of the hand through the navicular bone. The force output wire of navicular bone is bound on the second connection part.

The first plan of the navicular bone: the axial direction of the pin axis in the first connecting part and the axial direction of the pin axis in the second connecting part form an included angle. The first connecting part faces the direction of the four fingers, and the second connecting part faces the direction of the palm, so the scaphoid drive motor controls the length of the force output line to realize the movement of the thumb to the four fingers.

The scaphoid connecting seat comprises a base and a hinged part connected with the scaphoid, the hinged part is located on the base surface of the base, and the base surface is an inclined plane which is low on the outside and high on the inside. Outer means close to the edge of the palm. The bevel gives the thumb a natural slope.

The second kind of scaphoid scheme, the first part of the scaphoid connecting seat is set on the back of the hand frame, the second part of the scaphoid connecting seat is set on the back of the hand frame, the first part, the second part of the scaphoid connecting seat and the scaphoid The first connecting part of the bone is hinged through a pin shaft, and a torsion spring is arranged on the pin shaft; a navicular drive motor is arranged in the palm. The scaphoid drive motor is used to control the scaphoid to move closer to or farther away from the palm of the hand to achieve grasping. In the natural state, the thumb and the four fingers are basically flush, similar to the natural open state of the human hand.

A cavity for the thumb driving motor is arranged in the metacarpal bone of the thumb. After the force output line of the thumb finger is drawn out from the thumb drive motor, it passes through the wire shaft in turn, and is finally fixed on the far knuckle. The thumb drive motor is integrated in the thumb to realize the bending motion of the thumb fingers.

This arrangement of the navicular bone, through the cooperation of the navicular bone drive motor and the thumb drive motor, concentrates all the force on the direction of the thumb to the palm of the hand, which greatly improves the fingertip force output by the thumb and the grip force of the whole hand.

The pin shaft hinged between the navicular bone connecting seat and the navicular bone is toward the four fingers, and the pin shaft hinged between the navicular bone and the metacarpal of the thumb is parallel to the pin shaft hinged between the metacarpal bone of the thumb and the proximal knuckle. In this way, the navicular bone is moved closer to the palm of the hand. If the thumb drive motor is integrated in the palm, the thumb drive motor can control the thumb to move the four fingers together and bend, so as to realize the grip and improve the grip force.

The advantages of the present invention are:

1. The present invention simplifies each joint into two insertion points and a stiffness value. Through the optimal configuration of the insertion points, stiffness values and force output lines, the bionic machine can be restored to the natural state of natural limbs in a given direction of freedom. Movement, the structure of the mechanism is simple, light and small in size.

2. Use the stranded force output line to drive the finger to bend, and convert the torque of the motor into the length change of the force output line. The force output line bears a small pulling force, is not easy to break, and has a large output force.

3. The finger-driven motor family is all integrated in the palm and/or fingers. The size of the entire mechanical type is close to the size of an adult hand. It is highly integrated. The signal line and power line of the finger-driven motor family are drawn out from the palm, which can be plug-and-play use.

4. The calculation speed of forward and inverse kinematics is fast, which can satisfy the principle of minimum biological energy, meet the condition of force balance, and avoid singularity.

Description of drawings

Fig. 1 is a schematic diagram of a finger as an example, where the force output line is drawn from the drive motor and passed through all the guide shafts and fixed to the guide shaft on the far knuckle.

Fig. 2 is a schematic diagram of the finger motion model in an initial state.

Fig. 3 is a schematic diagram of the finger motion model when it is bent.

Figure 4 is a comparison of the analysis results of several existing PCA algorithms on manipulators.

Figure 5 is a discrete point diagram between the length of the force output line and the joint angle before linear fitting, and each joint corresponds to a discrete point curve.

Fig. 6 is a diagram of the corresponding relationship between the force output line and the joint angle after linear fitting.

Fig. 7 is a comparison of the force output performance between the manipulator of the present invention and the natural human hand and the bebionic brand manipulator under the same quality conditions.

Fig. 8 is a schematic view of the first manipulator viewed from the palm.

Fig. 9 is a schematic diagram of the connection between the index finger of the first type of manipulator and the skeleton of the back of the hand.

Fig. 10 is a schematic diagram of the connection between the thumb and the palm skeleton of the first type of manipulator.

Fig. 11 is a schematic diagram of the palm of the first type of manipulator.

Fig. 12 is a schematic diagram of the palm skeleton of the first type of manipulator.

Fig. 13 is a schematic diagram of the second type of manipulator viewed from the direction of the palm.

Fig. 14 is a schematic diagram of the second type of manipulator viewed from the direction of the back of the hand.

Fig. 15 is a schematic diagram of the second type of manipulator after the skeleton of the back of the hand is removed.

Fig. 16 is a schematic diagram of the connection between the palm skeleton and the index finger of the second type of manipulator.

Fig. 17 is a schematic diagram of the connection between the palm skeleton and the thumb of the second manipulator.

Fig. 18 is a schematic diagram of the second manipulator with the palm skeleton connected to the thumb and viewed from the back of the hand.

Fig. 19 is a perspective view of the palm skeleton connected with the thumb of the second type of manipulator.

Fig. 20 is a schematic diagram of the third type of manipulator viewed from the direction of the palm.

Fig. 21 is a schematic diagram of the third type of manipulator viewed from the direction of the back of the hand.

Fig. 22 is a perspective view of the third type of manipulator.

Fig. 23 is a schematic view of the palm skeleton of the third type of manipulator viewed from the direction of the back of the hand.

Fig. 24 is a schematic view of the palm skeleton of the third manipulator viewed from the direction of the palm.

Fig. 25 is a schematic diagram of the connection between the index finger of the third manipulator and the palm skeleton.

Fig. 26 is a schematic diagram of the connection between the thumb and the palm skeleton of the third manipulator.

Fig. 27 is a perspective view of the thumb of the third manipulator connected to the palm skeleton.

Fig. 28 is the skeleton of the back of the hand of the third kind of manipulator.

Figure 29 is the structure of four fingers represented by the index finger.

Detailed ways

The structures involved in the present invention or the technical terms used will be further described below. If not specified, they will be understood and interpreted according to the general principles in this field.

PCA Principal Component Analysis

Principal component analysis (PCA) is a method of mathematical transformation, which converts a given set of related variables into another set of unrelated variables through linear transformation, and these new variables are in the order of decreasing variance. arrangement. In the mathematical transformation, the total variance of the variables is kept constant, so that the first variable has the largest variance, which is called the first principal component, and the second variable has the second largest variance and is not related to the first variable, which is called the second principal component. ,And so on.

force output line

The force output line refers to the twisted wire connected to the drive motor. The twisted wire has at least two sections. The torque output by the motor makes the two twisted wires intertwine or loosen each other, thereby changing the actual length of the force output line and realizing the control of the traction. The traction action of the mechanism. Each section of twisted wire has several strands, as long as it can be smoothly installed on the bionic machine and meets the flexibility requirements.

bionic machine

By imitating the shape, structure and control principles of living things, the machines with more concentrated functions, higher efficiency and biological characteristics are designed and manufactured. The bionic machinery in this article refers to the natural limb movement used to restore human beings, including but not limited to: robotic hands, fingers, robotic arms, rehabilitation gloves that can be worn on the hand of a person who has lost motor function to drive finger movement, driving lost motor function Arm rehabilitation supplies for arm movement, etc.

A bionic machine, as shown in Figure 1, has at least one driving motor R, each driving motor R has its own traction part, and a force output line B and a plurality of lead shafts A are arranged between the driving motor R and the traction part. The output wire B includes at least two segments that can be entangled with each other. One end of the force output wire B is fixed to the traction part, and the other end is fixed to the output end of the driving motor R.

The torque output by the drive motor R is transmitted to the force output line B, and the force output lines B are intertwined or loosened, and the length of the force output line B changes, so that the pulling part is displaced, and the entire structure being pulled is bent or straightened. When the force output line B is against the guide wire shaft A, the force output line B turns from the resisted guide wire shaft A, and also drives the pulled mechanism to bend.

Kinematics optimization method for bionic machinery based on joint insertion points

The purpose of this optimization method is to provide a method for optimizing the position of the wire axis A and the spring stiffness to realize the harmonious biological force transmission of the mechanism movement, realize the natural movement conforming to the biomechanics, and avoid actions that violate the natural biological movement.

The method for optimizing the position of the wire axis A can be used for human hands and/or arms that have lost their motor functions, manipulators and manipulators rebuilt with connecting rods and springs, and the like. These structures are collectively referred to as pulled mechanisms in this article. The traction mechanism is virtualized as a link model with links and elastic hinges. For the manipulator and the manipulator, the connecting rods of the manipulator and the manipulator are the connecting rods, and the joints of the manipulator and the manipulator are elastic hinges. For the hand and arm that have lost their motor function, the bones of the hand are used as connecting rods, and the joints are used as elastic hinges.

The specific plan includes: obtaining the natural limb movement database, as shown in Figure 2 and Figure 3, and establishing a movement model for the natural limb. In the movement model of the natural limb, the bone is used as a connecting rod, the joint C is used as an elastic hinge, and the tendon is used as a force output line B , the parameters of each joint include the length l of the tendon and the stiffness of the joint C, using forward and inverse kinematics to obtain the relationship l=f(θ _i ) between the natural limb tendon movement Δl and the joint angle θ.

Use the PCA algorithm to obtain the dimensional direction of the first principal component of the natural limb, and the relationship between the tendon movement amount △l and the joint C angle θ in this dimensional direction, and when there are multiple joints C, the relationship between the multiple joint C angles proportional relationship. As shown in Figure 4, the PCA algorithm is an existing algorithm, and the analysis results of different PCA algorithms on the three principal component directions of the bionic mechanical motion are basically the same. As shown in Fig. 5, a discrete curve diagram of the relationship between the angle of each joint C and the force output line B is obtained. Fig. 6 is a linear regression fitting of the discrete points in Fig. 5 into a straight line.

Establish the motion model of the pulled structure, constrain the motion model’s degree of freedom in the dimension direction of the first principal component, the motion model includes connecting rods, elastic hinges between adjacent connecting rods and force output line B, each elastic hinge The parameters include the positions of the two insertion points and the stiffness of the spring 12, and the length of the force output line B between the two insertion points represents the length of the tendon;

Taking the spring stiffness and tendon length as input, and the angle of each joint C as output, the relationship between tendon movement △l and joint C angle θ in the motion model and the relationship between tendon movement △l and joint C angle θ in the natural limb The minimum relationship gap between them is taken as the goal, the insertion point position and spring stiffness are continuously adjusted, and the calculation is iterative until the goal is achieved; the insertion point position and spring stiffness are output, and the position of the wire axis A and the spring stiffness optimization are completed. As shown in Figure 1, the position of the wire shaft A is determined, and the force output line B passes through all the wire shafts A in turn.

The core of this method is to virtualize each joint as two insertion points and a joint stiffness value; the insertion point specifically represents the tendon length.

The forward and inverse kinematics model obtains the relationship between the amount of tendon movement △l and the joint angle θ, and the forward kinematics model is: Among them, J represents the rotation transformation matrix, Indicates the amount of movement of the tendon in this dimension;

The inverse kinematics model is: J ⁺ represents the weighted rotation transformation matrix, and the weighted weight is W spring stiffness, when Get the relationship between the amount of tendon movement and the joint C angle.

When there are multiple joints C, the method to obtain the proportional relationship between the angles of multiple joints C is: to establish a graph of the relationship between the amount of tendon movement △l and the joint C angle θ, with the tendon length l as the abscissa and the angle value as the ordinate Coordinates, each joint angle has a curve in which the joint C angle changes according to the length of the tendon in this coordinate system;

Select a joint as the reference joint C, establish a two-dimensional coordinate system with the angle of the reference joint as the abscissa, and the angle value as the ordinate, and obtain the curve of each joint C relative to the reference coordinate, and the slope of the curve represents the angle of the joint C The proportional relationship with the angle of the reference joint C. The closer the proportional relationship between the angle of the joint C and the angle of the reference joint C is to the angle proportional relationship obtained by the PCA analysis, the closer the motion model is to the motion of the natural limb. If the proportional relationship between the angle of the joint and the angle of the reference joint C is farther away from the angular proportional relationship obtained by PCA analysis, the relative position of the insertion point is adjusted with the goal of approaching the result obtained by PAC principal component analysis.

In some embodiments, when the pulled mechanism is a finger, a finger motion model is established. The finger includes a proximal phalanx-metacarpal joint MCP, a proximal phalanx-middle phalanx joint PIP, and a middle phalanx-distal phalanx joint DIP. Each joint have two insertion points each.

Taking fingers as an example, the detailed optimization process:

As shown in Figure 2 and Figure 3, the finger is simplified into a phalanx-joint model, with the phalanx as the connecting rod, the proximal phalanx-metacarpal joint as MCP, the proximal phalanx-middle phalanx joint as PIP, and the middle phalanx-distal phalanx joint is DIP; each joint model includes two insertion points [x _i , y _i ], joint stiffness w _i ;

The forward kinematic model is Its essence is that the Taylor expansion takes a term;

The inverse kinematics model is in Indicates that Jdθ and Approximation, min(λ ² ||dθ||) means avoiding the singularity of the model; substituting the inverse kinematics model into the weight, rewritten as: when Get the relationship between the amount of tendon movement and the joint C angle.

The optimization process is as follows: take the spring 12 in the natural state and the state of the natural extension of the force output line B as the initial state, and take the joint angle of the initial state As the input value, the length of the force output line B and the position of the insertion point (L _i ,[ _xi ,y _i ]) are used as variable input quantities, and the actual angle of the joint C As the output value, input it into the positive and negative motion model, when ||dl||>ε, make Continuously update the force to output the length of line B and the insertion point position (L _i ,[ _xi ,y _i ]) until ||dl||≤ε, and output the current insertion point position.

The finger or bionic manipulator is simplified as a finger link model. In the link model, bones (such as phalanges, hand bones, phalanx models, etc.) are used as links, and the joints between adjacent bones are elastic hinges. The fingers and handles here can be the fingers and arms that have lost their motor functions in the self-heating human body, or they can be prosthetic limbs and prosthetic hands reconstructed with mechanical structures.

In some embodiments, when applied to the finger structure of a manipulator, the stiffness W is the stiffness of a torsion spring, and the stiffness is used as a variable value, together with the position of the insertion point as a variable input value. It can be seen from FIG. 7 that the unit weight and force output performance of the bebionic brand manipulator, the natural human hand and the manipulator of the present invention are basically on the same performance curve, and the force output performance is basically the same.

In some embodiments, a patient who has lost finger motor function, such as a stroke patient, whose finger movement is no longer controlled by the brain, has muscle stiffness at the joints of the finger, and the same patient has different degrees of muscle stiffness at different joints of the same finger, Therefore, when optimizing the insertion point of the guide wire axis A of the glove, the joint stiffness W in the biomechanical model varies.

When applied to the finger structure of an immobile human hand, the stiffness W is the actual stiffness of the finger joints; the stiffness W is entered as a fixed value, and only the insertion point position is used as a variable input value. Stiffness was measured for each finger of the patient prior to optimization calculations. The stiffness of the joints of the human hand can be given a known force, measured to obtain the angle of the joint C, calculated to obtain the joint stiffness W, and the existing technology is used to calculate the stiffness through the known force and angle.

When it is applied to the rehabilitation of human hands with loss of motor function, besides the loss of active grasping ability, the fingers usually also lose the ability to actively stretch. Therefore, the rehabilitation tool will also be equipped with a mechanism to stretch the fingers. , when the force output line B pulls the finger to grasp, the joint stiffness is the equivalent stiffness of the joint C combined with the action of the elastic element. That is to say, when the elastic member is in working condition, the finger joint stiffness test is carried out.

In some embodiments, the pulled mechanism is an arm, and the arm motion model includes an elbow joint; the elbow joint includes two insertion points and a joint stiffness.

The arm motion model includes the shoulder joint, which is a universal joint. First determine the motion direction of the shoulder joint. If the motion direction of the shoulder joint is the same as that of the elbow joint, the input values of the arm motion model include a pair of shoulder joint insertion points, shoulder joint stiffness , and a pair of elbow insertion point and elbow stiffness.

manipulator

The purpose of this embodiment is to provide a bionic manipulator with a shape and structure close to that of a human hand, and capable of imitating the natural grip of a human hand and having a strong grip.

As shown in FIG. 8 , a bionic manipulator has a palm, a thumb 1 , an index finger 2 , a middle finger 3 , a ring finger 44 and a little finger 5 . Index finger 2, middle finger 3, ring finger 4, and little finger 5 have the same structure, and have their own proximal knuckle J, middle knuckle Z, and distal knuckle Y. As shown in Figure 29, the proximal knuckle J is hinged with the palm; each joint Each finger has its own pair of wire shafts A and a spring between the insertion points; each finger has its own drive motor R and force output line B, and each force output line B includes at least two segments that can be wound around each other. The force output line B passes through the wire shaft A on the finger, the far end and the wire shaft A on the far knuckle Y in sequence, and the other end of the line segment is fixed with the output end of the motor.

When the motor outputs torque, the wire segments are intertwined to form twisted wires, and the length of the wire segments becomes shorter to form a pulling force on the fingertips. Relative motion occurs between the knuckles of the fingers, and then the fingers are bent to realize the grasping movement of the hand. In the finger structure, no settings are required except for the phalanges, hinges, and springs.

The insertion point and spring stiffness were determined by the optimization method described above, and the drive motor was used as the driver for the direction of the first principal component obtained by the PCA analysis. The role of the PCA analysis method is to perform dimensional analysis on the movement of the natural limbs, and then set the driver for the principal component direction obtained by the PCA analysis method when performing bionic mechanical design. The more drivers there are, the more comprehensive the natural body movement is restored.

As shown in Figure 29, each finger is provided with a wire groove 11 for accommodating the force output wire B, and a wire shaft A is arranged along the wire groove 11, and the two ends of the wire shaft A are respectively fixed with the wire groove 11; the force output wire B passes through The space between the wire shaft A and the trunking 11.

According to the physiological structure of the human hand, the kinematics of the fingers is simplified as a link mechanism driven by the force output line B, the finger bones are considered as rigid links, and the ligaments and tendons connecting the finger bones are considered as rigid elastic hinges , the position of the insertion point of a series of wire axis A and the fixed point of the force output line B determine how the force output line B drives the finger to move. Therefore, it is necessary to model the force output line B and the wire axis A to clarify the relationship between the length of the force output line B and the finger motion state.

The position of the wire axis A is determined after the insertion point and stiffness optimization calculation, and the position is stable, so that after the manipulator is manufactured, the bending degree of the finger can be controlled by calculating the length of the force output line B, and the bending of the finger and the bending of the hand can be realized. Precise control of gripping action.

As shown in FIG. 8 , the wire shaft A includes a mandrel and a wear-resistant sleeve, and the wear-resistant sleeve is sheathed on the mandrel. The mandrel is fixed with the knuckle where it is located, and the wear-resistant sleeve is closely matched with the mandrel. The wear-resistant sleeve reduces the frictional force on the force output line B, and lubricates the force output line B, minimizes the wear and tear of the force output line B, and prolongs the service life of the force output line B.

As shown in FIG. 9 , the joint includes a pair of insertion points and a torsion spring 12 nestled in a pin. The torsion spring 12 includes a helical spring portion and legs extending outward at both ends, and each leg is respectively fixed to a corresponding knuckle. The stiffness of the torsion spring is used as the stiffness of the joint, and the torsion spring is easy to install.

As shown in Figure 10, the joint between the proximal knuckle J and the palm is provided with a first reed, the joint between the proximal knuckle J and the middle knuckle Z is provided with a second reed, and the joint between the proximal knuckle J and the middle knuckle Z is provided with a second reed. A third reed is provided at the joint between the nodes Y; a sensor is provided on each reed. The method and structure for collecting joint angles with reeds and sensors adopt the prior art.

The output shaft of the motor is provided with a wire-passing hole, and the force output wire B is a rope loop passing through the wire-passing hole. The end of the rope ring and the motor output shaft is used as the proximal end, and the farthest end of the rope ring is fixed to the far knuckle Y. When the motor outputs torque, the rope ring forms a twisted pair, and the length of the force output line B changes.

The force output line B is a rope passing through the wire hole, the two ends of the rope are combined to form a closed loop of the force output line B, and the two ends of the rope are fixed on the far knuckle Y.

The wire passing hole is a ring fixed on the output shaft of the motor, or a through hole opened on the output shaft of the motor.

The force output line B is fixed on the far knuckle Y through a pressing piece; or, the distal guide shaft A is arranged on the far knuckle Y, and the rope is wrapped around the distal guide shaft A. The force output line B bears the pulling force in the form of a twisted pair, the rope loop is directly subjected to less stretching deformation, is not easy to break, and has a large output force.

The far knuckle Y, the middle knuckle Z and the proximal knuckle J are composed of respective skeletons and flexible pads 13. Adjacent skeletons are connected by elastic hinges, wire slots 11 are opened on the skeletons, and flexible pads 13 are covered on the skeletons. The pad covers part of the trunking 11 . The skeleton is equivalent to the phalanx, and the flexible pad 13 is equivalent to the muscles on the finger. The flexible pad 13 covers the wire slot 11 to prevent foreign matter from entering the wire slot 11 and affecting the force output wire B.

There is lubricating oil, or grease, or colloid, and, or protective film, and, or protective layer on force output line B. Coating a little oil on the force output line B can enhance the toughness of the force output line B and prolong the service life.

The rope ring formed after the force output wire B passes through the wire hole is near the motor output shaft, and the wire segments of the rope ring are bundled together. For example, after the force output wire B passes through the wire hole, the line segments on both sides of the wire hole are knotted. In this way, when the motor outputs torque, the starting point of each wire segment winding is the same, and the influence of the natural separation tendency of the wire segments on both sides of the wire hole on the torque transmission is avoided, and the effective utilization rate of the motor torque is improved, thereby improving through control. The motor is used to control the length of the force output line B.

Shake-free bionic manipulator

During the experiment, it was found that when the force output line B is used as a twisted wire, the finger will shake. The purpose of this embodiment is to provide a structure for preventing finger shaking of the bionic manipulator using the force output wire B in the form of twisted wire.

As shown in FIG. 27 , a beam splitter 6 is provided on the passing path of the force output wire B, and the wire segment wound by the force output wire B is separated at the beam splitter 6 . The torque output by the motor makes the line segments of the force output line B entangled together, and then the length of the force output line B changes, and the distance between the far knuckle Y and the palm changes, so the fingers bend. The entanglement of the line segments will cause the fingers to vibrate during movement, which is not conducive to grasping.

As shown in Fig. 25, the beam splitter 6 is arranged near the knuckle J; or the beam splitter 6 is arranged on the palm 7, each finger has its own beam splitter 6, and the beam splitter 6 is a rigid member. After testing, it is found that after the beam splitter 6 is installed, the beam splitter 6 concentrates the motor torque on the beam splitter 6 to the motor section, and the beam splitter 6 interrupts the motor torque to make the line segment actively wind, and isolates the wire segment from being wound. The influence of torque on middle knuckle Z and far knuckle Y avoids finger shaking. The rigid part referred to in this article refers to a stable shape and not easy to deform; it does not mean absolute rigidity or hardness.

Each finger is provided with a wire groove 11 for accommodating the force output wire B. The beam splitter 6 is located in the wire groove 11 near the knuckle J, and there is a gap between the beam splitter 6 and the groove wall of the wire groove 11 . The gap allows the force output line B to pass through. After the line segment of the force output line B passes through the separation of the beam splitter 6, it continues to form twisted wires in a natural winding manner at the far end of the beam splitter 6. The stress distribution of the naturally wound twisted wires is natural. Fingers will not shake from the torque output by the motor.

The beam splitter 6 is a streamlined bulkhead centered on the axial centerline of the trunking 11 . The beam splitter 6 can separate the entangled wire segments without hindering the transmission of force.

The distal end and the proximal end of the beam splitting member 6 respectively form a smooth curved surface. Both the proximal end and the distal end of the beam splitter 6 are domes. The smooth curved surface can not only guide the force output line B smoothly, but also avoid mutual cutting between the beam splitter 6 and the force output line B, so as to ensure the service life of the force output line B.

There are two wire shafts A inside the wire groove 11 near the knuckle J, and the beam splitter 6 is located between the two wire shafts A. The length of the far knuckle Y is sufficient, and the beam splitter 6 is more suitable to be placed between the two wire shafts A than in the palm. Moreover, the force output line B also has requirements on the transmission distance of the torque. If the beam splitter 6 is placed in the palm, the force output line B affected by the motor torque is relatively short, and the force output line B is prone to twisting. The beam splitter 6 is placed in the near knuckle J, and the length of the force output line B is suitable for the torque of the motor, which can not only effectively transmit the torque of the motor, but also reduce the problem of twisting of the force output line B.

The distance between the beam splitter 6 and the two guide wire axes A is equal, or the beam splitter 6 is close to the guide wire shaft A at the proximal end. In this way, the influence of the beam splitter 6 on the torque transmission is minimal, and the fingers do not vibrate.

The proximal knuckle J and the beam splitter 6 are integrated, and the beam splitter 6 is higher than the axis A of the wire. The height of the beam splitter 6 needs to be high enough, so that the wire axis A limits the force output line B to a region lower than the beam splitter 6 , preventing the force output line B from breaking away from the beam splitter 6 .

Highly integrated bionic manipulator

The purpose of this solution is to provide a highly integrated bionic manipulator capable of integrating all drive motors in the palm.

As shown in Fig. 20 and Fig. 23, the palm 7 includes the back of the hand skeleton 71A and the palm skeleton 72A, the back of the hand skeleton and the palm skeleton form an accommodation cavity, and a finger drive motor family is arranged in the accommodation cavity, and the finger drive motor family includes index finger motors, middle finger motors, The ring finger motor and the little finger motor, the output shafts of the index finger motor, the middle finger motor, the ring finger motor and the little finger motor are respectively aligned with the corresponding fingers; the force output line B is fixed with the output shaft of the finger drive motor; a wire of the proximal knuckle-metacarpal joint Axis A is located at the proximal knuckle J and the other axis A is located in the palm of the hand.

From the anatomical structure of the human metacarpal bone, it can be seen that there are five metacarpal bones in the human palm, each metacarpal bone is connected with the respective corresponding finger bones to form a line hinged by a joint, and the metacarpal bone is connected with the proximal knuckle J through a joint. The index finger motor, middle finger motor, ring finger motor and little finger motor are set relative to the respective fingers according to the direction of the metacarpal bone, that is, in the palm model, the finger drive motor uses a miniature low-speed geared motor.

As shown in Figure 18 and Figure 19, there are index finger motor installation positions 1-1, middle finger motor installation positions 2-1, ring finger motor installation positions 3-1 and little finger motor installation positions 4-1 in the accommodating cavity, each motor installation position Fix the corresponding finger drive motor, and each motor installation position is provided with a through hole K that allows the output shaft of the motor to pass through and rotate freely. Each motor mounting position includes a pair of side plates 14 and a distal baffle 15 respectively, a through hole K is provided on the distal baffle 15, and the proximal end of the motor mounting position is open. The index finger motor, the middle finger motor, the ring finger motor and the little finger motor are respectively provided with a limit assembly, and when the motor is installed at the motor installation position, the limit assembly limits the rotation of the motor relative to the motor installation position.

For example, if the motor and the installation position of the motor are fixed by means of fasteners, bonding, etc., the fasteners and bonding structure can also be used as a limiting component. The motor for the index finger, the motor for the middle finger, the motor for the ring finger and the motor for the little finger have a deceleration mechanism, and the base frame of the deceleration mechanism has a stop surface matched with the installation position of the motor. For example, the reduction mechanism is a gear reducer, and the base frame of the gear reducer is in the form of a cuboid or cube. The side plate of the position is attached to limit the rotation of the finger drive motor relative to the motor installation position. The near end of the motor mounting position is set to be open, so that the motor can be put into the motor mounting position conveniently.

The palm 7 needs to be hinged with the index finger 2, middle finger 3, ring finger 4 and little finger 5. Therefore, the palm 7 needs to be provided with connection parts with the index finger 2, middle finger 3, ring finger 4 and little finger 5.

Highly integrated bionic manipulator of the first scheme

In some specific embodiments, the proximal phalanx-metacarpal joint is located in the palm and the wire shaft is located between the finger drive motor and the proximal phalanx-metacarpal joint. That is to say, the position of the finger drive motor has nothing to do with the guide wire axis A of the proximal phalanx-metacarpal joint, only the force output line B needs to pass through the guide wire axis A, which reduces the positioning accuracy requirements for the finger drive motor.

The back of the hand frame is provided with a connecting portion hinged with the fingers, and the palm frame 72A is provided with a finger groove 74 corresponding to the connecting portion; the palm frame is provided with the skeleton guide shaft A of the force output line B, and the skeleton guide shaft A is located between the finger drive motor and between the corresponding fingers. The finger grooves on the palm frame 72A provide space for the fingers to move, and the finger grooves 74 on the palm frame 72A also limit the limit position of the finger movement, preventing excessive movement of the fingers that does not conform to biological laws.

As shown in Figure 11, the connecting portion 75 is arranged on the distal end of the back of the hand frame 71A, and a distal plate is arranged between adjacent connecting portions 75, and the distal end plate is flush with the distal edge of the back of the hand frame; the finger groove 74 is arranged on the The far end of the palm frame is provided with a partition 76 between the adjacent finger grooves. When the back of the hand frame and the palm frame are combined, the partition 75 and the distal plate separate the finger grooves.

As shown in Figure 12, all motor installation positions are set on the back of the hand frame, and the palm frame and the back frame are fixed by screws; countersunk screw holes 77 are set on the palm frame, and screw posts 78 are set in the back frame, and the screw post 78 and the countersunk head The screw holes 77 are in one-to-one correspondence. This structure is used in conjunction with the scheme that the position of the finger drive motor has nothing to do with the wire axis A of the proximal phalanx-metacarpal joint. Both the back of the hand frame and the palm frame are slotted inward from the edge to provide room for the fingers to move. This slotting method Simple, and the outer surfaces of the palm frame and the palm frame are smooth and beautiful. However, its disadvantage is that the wire axis A of the force output line B needs to be set on the palm. When the force output line B is threaded, it needs to pass through the wire axis A on the palm, and the threading is slightly complicated.

Highly integrated bionic manipulator of the second scheme

In some embodiments, the fixed portion of the motor output shaft and the force output wire B is used as the wire shaft A located in the palm of the proximal knuckle-metacarpal joint. In this way, after the position of the wire axis A in the palm is determined through optimal calculation, the position of the finger drive motor is also determined. In this solution, the threading of the force output line B is simple, but the positioning accuracy of the finger drive motor is required to be high.

This scheme cooperates with the fixing part of the motor output shaft and the force output line B as the scheme of the guide wire shaft A located in the palm of the proximal knuckle-metacarpal joint. The palm frame 72A is provided with a connecting block hinged with the fingers, the connecting block is a projection extending far from the far end of the palm frame, there is a distance between the connecting blocks, the far end of the connecting block is provided with a hinge, and the connecting block is provided with a limit surface; a wire hole is provided on the palm frame, and each connection block corresponds to a wire hole.

The far end of the connection block is hinged with the finger. After the finger moves to contact the limit surface, the proximal knuckle J can no longer move toward the palm. After the force output line B is drawn out from the motor output shaft, it passes through the wire hole, and then passes through the wire shaft A on the finger. The position of the wire hole on the output shaft of the motor and the position of the wire hole can also be included as the wire axis A in the aforementioned optimal allocation scheme to calculate the optimal position to obtain finger control with a high degree of bionics and conforming to biomechanics and biomotion patterns . Connecting blocks and corresponding finger drive motors form a metacarpal bone model.

As shown in Figure 13, the palm frame forms an accommodating cavity for the finger drive motor family, the back frame is a cover plate, and the back of the palm frame is provided with an opening for the cavity matching the back frame, and there are steps between the connecting block and the palm frame, and the wires The holes are arranged on the steps. That is to say, the connection block is lower than the palm surface; when the proximal knuckle J touches the limiting surface, there is still a gap between the proximal knuckle J and the palm skeleton, leaving space for the soft pad of the proximal knuckle J.

The limiting surface is an inclined plane, and the far end of the limiting surface is closer to the back of the hand than the proximal end. When the finger moves to contact with the limiting surface, the finger is slightly inclined, which is in line with the movement of a natural human finger.

As shown in FIG. 14 , the distal end of the proximal knuckle J and the distal end of the middle knuckle Z are respectively provided with knuckle limiting surfaces, and the knuckle limiting surfaces are slopes that are far lower and near higher. It is low close to the back of the hand and high close to the palm of the hand. The purpose of the knuckle limiting surface is to make the knuckles slightly inclined when they are bent to the limit, which is in line with ergonomics and biomechanics.

The hinge of the proximal knuckle J is located in the hinge of the connecting block, and the two hinges fit in a gap, and the two hinges pass through a pin shaft, and a torsion spring is sleeved on the pin shaft; the edge of the hinge of the connecting block is arc-shaped. Rounded edges avoid interference during hinge movement.

As shown in Figure 15 and Figure 16, the motor mounting position of the index finger driving motor, the motor mounting position of the middle finger 3 driving motor, the motor mounting position of the ring finger 4 driving motor and the little finger 5 driving motor are respectively aligned with the respective connecting blocks. , the position of each motor installation position is taken as the position of the output shaft of the motor, as shown in Figure 17, when the wire axis A is optimally allocated, the motor installation position is included in the optimization as the wire axis A of the proximal knuckle-metacarpal joint in the palm in the distribution plan. As shown in Figure 18, the motor installation position is used as the wire axis A on the force output line B. After optimizing the position distribution, it is ensured that the bending action of the finger can be accurately controlled through the length of the force output line B, and the bending shape of the finger is being optimized. The dispensing process is defined so as to avoid jarring movements of the fingers that are not biomechanical.

As shown in Figure 19, each motor installation position includes a pair of side plates 14 and a distal baffle 15 respectively, the side plates are perpendicular to the palm frame and connected with the palm frame, the through hole K is arranged on the distal baffle 15, and the motor The proximal end of the installation position is open; the finger drive motor is closely matched with the side plate 14 .

The finger-driven motor family all use a motor with a reducer. The reducer has a square bracket, and the motor mounting position is tightly matched with the bracket of the reducer.

The advantage of this structural scheme of fingers and palms is: only need to install the finger drive motor, the force output line B directly passes through the wire hole K on the palm frame, and then passes through the wire shaft A and the finger frame in turn. , the layout of the force output line B is simple.

thumb structure

The purpose of this embodiment is to provide a highly integrated thumb 1 structure capable of flexing the fingers and swinging the metacarpal bone of the thumb 1 .

As shown in Figure 20, the thumb 1 has the thumb finger and the navicular bone, the thumb finger includes the thumb 1 metacarpal, the proximal knuckle J and the distal knuckle Y, the thumb 1 metacarpal and the proximal knuckle J are hinged by an elastic hinge, and the proximal knuckle J It is hinged with the far knuckle Y through an elastic hinge; there is a wire shaft A on the thumb finger, and the thumb finger has a corresponding thumb 1 driving motor, and the force output line B is led out from the thumb 1 driving motor and then passes through the wire shaft A and the force output line B The far end is fixed on the far knuckle Y; the scaphoid is hinged with the palm 7, and the scaphoid has a scaphoid drive motor.

The scaphoid driving motor makes the scaphoid rotate around its hinge axis, thereby realizing the action of the thumb 1 approaching the other four fingers, and the thumb 1 cooperates with other fingers to realize the grasping action.

The opening on the palm frame is covered with soft pads. The soft pad is equivalent to the palm muscle, which plays the role of anti-slip and cushioning.

Thumb 1 metacarpal bone is connected with the dorsal skeleton 71A through the navicular bone. The navicular bone connection seat is provided on the dorsal hand skeleton 71A. In the connection part, the force output line B of the navicular bone is bound on the second connection part.

The first kind of structure that the thumb is connected to the palm, as shown in Figure 21, the scheme of the scaphoid drive motor is: the proximal end of the force output line B of the scaphoid passes through the output shaft of the scaphoid drive motor, and the far end is arranged on An opening is set on the navicular bone; the palm skeleton 72A, and the thumb 1 is in the area of the opening. The scaphoid driving motor makes the force output lines B intertwine or loosen each other, thereby changing the distance between the force output lines B, adjusting the angle of the scaphoid, and realizing the purpose of controlling the movement angle of the thumb 1 relative to the palm. The advantage of this structure is that the structure is simple, the scaphoid motor can be inherited in the palm, and the requirements for the motor R are relatively low, and the same type of motor as the finger drive motor can be used.

The first part of the scaphoid connecting seat is set on the back of the hand frame 71A, the second part of the scaphoid connecting seat is set on the back of the hand frame 71A, and the first part, the second part of the scaphoid connecting seat and the first connecting part of the scaphoid pass through The pin shaft is hinged, and the pin shaft is provided with a torsion spring 12; the palm 7 is provided with a scaphoid drive motor. The scaphoid drive motor is used to control the scaphoid to move closer to or farther away from the palm of the hand to achieve grasping. In the natural state, the thumb 1 is basically flush with the four fingers, which is similar to the natural open state of a human hand.

As shown in FIG. 26 , a cavity for driving the motor of the thumb 1 is provided in the metacarpal bone of the thumb 1 . The force output line B of the thumb 1 finger is led out from the drive motor of the thumb 1, passes through the wire axis A in turn, and is finally fixed on the far knuckle Y. The driving motor of the thumb 1 is integrated in the thumb 1 to realize the bending motion of the fingers of the thumb.

This kind of setting scheme of the scaphoid, through the cooperation of the driving motor of the scaphoid and the driving motor of the thumb 1, concentrates all the force on the direction of the thumb 1 towards the palm of the hand, which greatly improves the fingertip force output by the thumb 1 and the force of the whole hand. grip.

The pin shaft hinged between the navicular joint seat and the navicular bone faces the four fingers, and the pin shaft hinged between the navicular bone and the thumb 1 metacarpal bone is parallel to the pin shaft hinged between the thumb 1 metacarpal bone and the proximal knuckle J. In this way, the navicular bone is moved closer to the palm of the hand. If the driving motor of the thumb 1 is integrated in the palm, the driving motor of the thumb 1 can control the thumb 1 to move together and bend to the four fingers, so as to realize grasping and improve the grasping force.

The second connection structure between the thumb and the palm, in some embodiments, the connection structure between the navicular bone and the palm: the axial direction of the pin axis in the first connecting part and the axial direction of the pin axis in the second connecting part form an included angle. The first connecting part faces the direction of the four fingers, and the second connecting part faces the direction of the palm, so the scaphoid drive motor controls the length of the force output line B to realize the movement of the thumb 1 moving closer to the four fingers.

The scaphoid connecting seat comprises a base and a hinged part connected with the scaphoid, the hinged part is located on the base surface of the base, and the base surface is an inclined plane which is low on the outside and high on the inside. Outer means close to the edge of the palm. The bevel makes the thumb 1 have a natural slope.

The third connection structure between the thumb 1 and the palm 7 In some embodiments, the navicular driving motor has another solution: the output shaft of the navicular motor serves as the hinge pin between the navicular and the palm. The palm 7 is provided with a fixed seat, and the fixed seat is fixed with the scaphoid motor shell; the end of the scaphoid near the fixed seat is provided with a through hole K, and the through hole K is matched with the hand scaphoid motor shell clearance; The output shaft of the scaphoid motor is fixed. Like this, with the shell of hand scaphoid motor, be fixed by holder, holder and palm 7 are fixed, and the output shaft output torque of hand scaphoid motor realizes the rotation of hand scaphoid relative palm 7. Controlling the rotation angle of the scaphoid motor output can control the angle that the thumb 1 is relatively close to or far away from the palm 7. The control is simple and precise, but the volume of the motor R is high, and a motor that can be integrated into the palm must be selected.

The opening on the palm frame provides room for the thumb 1 to move. The bone structure of thumb 1 includes proximal knuckle J, distal knuckle Y, and the metacarpal bone of thumb 1 located in the palm. However, the metacarpal bone of thumb 1 is different from the metacarpal bones of other four fingers. In the natural palm, the metacarpal bone of thumb 1 has a motor function. Therefore, in this scheme, the metacarpal bone of thumb 1 is set outside the palm to realize the biological movement function of metacarpal bone of thumb 1 . The driving motor of the thumb 1 drives the swing of the thumb 1 close to or away from the palm of the hand and the bending motion of the thumb 1 through the force output line B.

The invention shown and described herein can be practiced in the absence of any element, limitation, specifically disclosed herein. The terms and expressions employed are used as terms of description and not of limitation, and there is no intention in the use of these terms and expressions to exclude any equivalents of the features shown and described or parts thereof, and it should be recognized that each Both modifications are possible within the scope of the invention. It is therefore to be understood that while the invention has been specifically disclosed by way of various embodiments and optional features, modifications and variations of the concepts described herein can be employed by those of ordinary skill in the art and are considered to be within the scope of the within the scope of the invention as defined by the appended claims.

The contents of articles, patents, patent applications, and all other literature and electronically available information described or recorded herein are hereby incorporated by reference in their entirety to the same extent as if each individual publication were specifically identified Same as pointing out individually for reference. Applicants reserve the right to incorporate into this application any and all materials and information from any such articles, patents, patent applications, or other documents.

Claims (10)

1. A bionic mechanical kinematics optimization method based on joint insertion points, characterized in that: the method includes the following operations, obtaining a natural limb motion database, and establishing a motion model for the natural limbs. In the motion model of the natural limbs, bones are used as connecting rods, joints As an elastic hinge, the tendon acts as a force output line. The parameters of each joint include the length l of the tendon and the stiffness of the joint. Using forward and inverse kinematics, the relationship between the movement amount of the natural limb tendon △l and the joint angle θ l=f(θ _i ); use the PCA algorithm to obtain the dimensional direction of the first principal component of the natural limb, and the relationship between the amount of tendon motion △l and the joint angle θ in this dimensional direction, and when there are multiple joints, the relationship between multiple joint angles ratio; The motion model of the pulled structure is established, and the motion degree of freedom of the motion model is constrained in the dimension direction of the first principal component. The motion model includes connecting rods, elastic hinges between adjacent connecting rods, and force output lines. Each elastic hinge’s The parameters include the position of the two insertion points and the stiffness of the spring, and the length of the force output line between the two insertion points represents the length of the tendon; Taking the spring stiffness and tendon length as input and the angle of each joint as output, the relationship between tendon movement △l and joint angle θ in the motion model and the relationship between tendon movement △l and joint angle θ in a natural limb The minimum gap is taken as the goal, the insertion point position and spring stiffness are continuously adjusted, and the calculation is iterative until the goal is achieved; the insertion point position and spring stiffness are output, and the wire axis position and spring stiffness optimization is completed. 2. The bionic machine kinematics optimization method as claimed in claim 1, characterized in that: the forward and reverse kinematics model obtains the relationship between tendon motion Δl and joint angle θ, and the forward kinematics model is: Among them, J represents the rotation transformation matrix, Indicates the amount of movement of the tendon in this dimension; The inverse kinematics model is: when Get the relationship between tendon motion and joint angle. 3. The bionic machine kinematics optimization method as claimed in claim 1, characterized in that: when there are multiple joints, the method for obtaining the proportional relationship between multiple joint angles is: the relationship between tendon motion amount Δl and joint angle θ Establish a graph, take the length l of the tendon as the abscissa, and take the angle value as the ordinate, and each joint angle has a curve in which the joint angle changes according to the length of the tendon in this coordinate system; Select a joint as the reference joint, establish a two-dimensional coordinate system with the angle of the reference joint as the abscissa, and the angle value as the ordinate, and obtain the curve of each joint relative to the reference coordinate. The slope of the curve represents the angle of the joint and the reference joint. The proportional relationship between the angles. 4. The bionic mechanical kinematics optimization method according to any one of claims 1-3, characterized in that: the traction mechanism is a finger, and a finger motion model is established, and the finger includes a proximal knuckle-metacarpal joint MCP, and a proximal knuckle-middle finger The knuckle joint PIP and the middle-distal phalanx joint DIP each have their own two insertion points. 5. The bionic mechanical kinematics optimization method as claimed in claim 4, wherein when applied to the finger structure of a manipulator, the stiffness W is the stiffness of a torsion spring, and the stiffness is used as a variable variable, which is used as a variable input together with the position of the insertion point value. 6. The bionic mechanical kinematics optimization method as claimed in claim 4, characterized in that: when applied to the finger structure of a human hand that has lost its kinematic function, the stiffness W is the actual stiffness of the finger joint; the stiffness W is input as a fixed value, and only the insertion Point position as variable input value. Stiffness was measured for each finger of the patient prior to optimization calculations. 7. The bionic machine kinematics optimization method according to claim 6, wherein the joint stiffness is equivalent joint stiffness. 8. The bionic mechanical kinematics optimization method according to claim 4, wherein the pulled mechanism is an arm, and the arm motion model includes an elbow joint; the elbow joint includes two insertion points and a joint stiffness. 9. The bionic mechanical kinematics optimization method according to claim 8, wherein the arm motion model includes a shoulder joint, the shoulder joint is a universal joint, and the direction of motion of the shoulder joint is first determined, if the movement of the shoulder joint and the elbow joint In the same direction, the input values of the arm motion model include a pair of shoulder joint insertion points, shoulder joint stiffness, and a pair of elbow joint insertion points and elbow joint stiffness. 10. The bionic machine kinematics optimization method as claimed in claim 1, characterized in that: a bionic machine has at least one drive motor, each drive motor has its own traction part, and a force is set between the drive motor and the traction part The output line and a plurality of wire shafts, the force output line includes at least two segments that can be intertwined with each other, one end of the force output line is fixed to the traction part, and the other end is fixed to the output end of the driving motor.