Dynamic Bending of Bionic Flexible Body Driven by Pneumatic Artificial Muscles(PAMs) for Spinning Gait of Quadruped Robot
Dynamic Bending of Bionic Flexible Body Driven by Pneumatic Artificial Muscles(PAMs) for Spinning Gait of Quadruped Robot
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DOI：
10.3901/cjme.2015.1016.123
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发表时间：
2016-01-01
影响因子：
4.2
通讯作者：
Wang Tianmiao
中科院分区：
文献类型：
--
作者：
Lei Jingtao;Yu Huangying;Wang Tianmiao
四足机器人的本体一般采用刚性结构。四足机器人的移动性取决于其本体机构的力学性能。具有刚性结构的四足机器人在非结构化环境中行走或跑动时，很难获得较好的移动性。提出了一种四足机器人的仿生柔性体机构，该机构由一根仿生脊椎和四根气动人工肌肉组成。这种仿生体模仿了四足动物的运动结构和物理特性，具有刚度可变、重量轻、柔韧性好、仿生性好等特点。推导了人体弯曲运动学方程，分析了柔性体与腿的协调运动。得到了弹体弯曲角与PAM长度的关系。采用浮动坐标法和拉格朗日法推导了物体弯曲的动力学方程，确定了PAM的驱动力。进行了人体弯曲实验，评价了仿生柔性体的动态弯曲特性。实验结果表明，该仿生柔性体的弯曲角度可达18 °。提出了一种四足机器人的创新体机构，该机构具有柔性的特点，通过改变PAM的气压来实现弯曲。通过身体和腿的协调运动，实现四足机器人的旋转步态，提高机器人的机动性。
The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures' kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18 degrees. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.