【摘要】：與傳統(tǒng)的"剛性"機(jī)器人相比,基于仿生學(xué)啟發(fā)的軟體機(jī)器人由于其與生俱來的柔順性和安全性受到廣泛關(guān)注。然而,此類軟體機(jī)器人驅(qū)動(dòng)器的設(shè)計(jì)與控制目前仍缺少理論指導(dǎo)。針對(duì)這些問題,設(shè)計(jì)了一種由氣壓驅(qū)動(dòng)的可實(shí)現(xiàn)彎曲運(yùn)動(dòng)的新型軟體驅(qū)動(dòng)器,在系統(tǒng)分析其結(jié)構(gòu)和彎曲原理的基礎(chǔ)上,利用幾何方法和虛功原理建立了其數(shù)學(xué)模型,并且通過有限元模型和原理樣機(jī)實(shí)驗(yàn)驗(yàn)證了數(shù)學(xué)模型的有效性,為軟體機(jī)器人驅(qū)動(dòng)器的優(yōu)化設(shè)計(jì)和控制提供了依據(jù)。
[Abstract]:Compared with the traditional "rigid" robot, the software robot based on bionics has attracted much attention because of its inherent flexibility and safety. However, the design and control of this kind of software robot driver is still lack of theoretical guidance. In order to solve these problems, a new software driver driven by air pressure is designed to realize bending motion. Based on the systematic analysis of its structure and bending principle, the mathematical model is established by means of geometric method and virtual work principle. The validity of the mathematical model is verified by the finite element model and the prototype experiment, which provides the basis for the optimal design and control of the software robot driver.
【作者單位】： 天津大學(xué)機(jī)構(gòu)理論與裝備設(shè)計(jì)教育部重點(diǎn)實(shí)驗(yàn)室;北京航空航天大學(xué)自動(dòng)化科學(xué)與電氣工程學(xué)院;倫敦大學(xué)國(guó)王學(xué)院機(jī)器人研究中心;
【基金】：國(guó)家自然科學(xué)基金(51375329) 天津市應(yīng)用基礎(chǔ)與前沿技術(shù)研究計(jì)劃(14JCYBJC19300) 高等學(xué)校博士學(xué)科點(diǎn)專項(xiàng)科研基金(20130032120036)~~
【分類號(hào)】：TP242

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