Statics Analysis of a Bionic Shoulder Joint Robot Driven by Pneumatic Artificial Muscle

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