三维仿生柔性机械臂的建模与运动控制方法研究

狭窄空间等受限环境下工作的机器人在生物医学、航空航天、工业生产及军事应用等行业的需求日益紧迫，仿生柔性机械臂以其轻质、灵活、易于适应复杂工作空间等特点成为该领域的研究热点。仿生柔性机械臂的结构主要包括仿生关节和柔性机械臂，建模与控制是其进一步应用的基础。不同于传统机械臂，智能材料驱动的仿生关节和柔性机械臂具有分布式驱动和柔性本体的特性，本项目的研究目标是针对上述特点，探究智能材料在驱动器上的合理应用，提出分布式参数系统的混合智能建模与分形边界控制框架。.本项目的主要研究内容有：（1）仿生驱动器运动机理研究；（2）仿生驱动器建模方法与运动控制策略研究；（3）三维仿生柔性机械臂的力学建模；（4）三维柔性机械臂的运动控制方法；（5）设计原理样机，通过实验验证本项目理论研究成果的正确性和实际效用。

Robots working in restricted environments such as narrow spaces are increasingly pressing in biomedical, aerospace, industrial production, and military applications. Bionic flexible manipulator are lightweight, flexible, and easy to adapt to complex workspaces. The characteristics make it a research hotspot in this field. The structure of the bionic flexible manipulator mainly includes a bionic joint and a flexible manipulator, and modeling and motion control are the basis for its further application. Unlike traditional manipulators, the bionic joints and flexible manipulators driven by smart materials have the characteristics of distributed drives and flexible bodies. The research goal of this project is to explore the reasonable application of smart materials on actuators based on the above characteristics and to propose distributed parameters system's hybrid intelligent modeling and fractal boundary control framework..The main research contents of this project are as follows: (1) Research on the motion mechanism of the bionic drive; (2) Research on the modeling method and motion control strategy of the bionic drive; (3) Mechanical modeling of the three-dimensional bionic flexible manipulator; (4)Motion control method of three-dimensional flexible manipulator; (5) Design principle prototype and verify the correctness and practical effectiveness of the theoretical research results of this project through experiments.