四足机器人气动人工肌肉驱动的仿生柔性机体动力学分析

基于四足生物动态步行时其柔性机体辅助腿机构的运动机理,设计了一种由气动人工肌肉、仿生脊柱、前机体和后机体组成的四足机器人仿生柔性机体.采用几何法分析仿生柔性机体运动学,建立四足机器人转向时仿生柔性机体弯曲角与气动人工肌肉长度变化间的关系,通过控制气动人工肌肉长度以控制机体弯曲.基于浮动坐标法和动量矩定理进行仿生柔性机体刚柔耦合动力学建模,对比分析了不同机体刚度下机体弯曲所需气动人工肌肉驱动力.设计仿生柔性机体弯曲控制实验系统,采用PID控制算法进行机体弯曲实验分析.四足机器人的仿生柔性机体分析,为提高其非结构化环境机动性奠定了基础.

Dynamics Analysis of Bionic Flexible Body Driven by Pneumatic Artificial Muscle for Quadruped Robot

Abstract： Based on the flexible body movement principle of quadruped creatrures, a kind of bionic flexible body for quadruped robot was presented, which was composed of pneumatic artificial muscles (PAM), bionic spine,fore body and hind body. The geometric method was adopted to analyze the kinematics of the bionic flexible body, and the relationship between the body bending angle and the PAM length when the quadruped robot walks with spinning gait. The body bending can be controlled by controlling the PAM length. The dynamics of bionic flexible body was derived by the floating coordinate method and moment of momentum theory. Then the PAM driving force for body bending with different body kiffness was determined. The experimental system was conducted, and the PID control algorithm was adopted to analyze the body bending. This paper can lay a foundation for improving the mobility of the quadruped robot walking in unstructured environment.