基于智能驱动器的软体机器人系统

摘要: 作为一种新型柔韧机器人，软体机器人越来越受到人们的重视。如何构建在不可预知环境下的应变能力是软体机器人技术的重点研究目标。针对该问题，提出了一种基于智能驱动传感的半软体机器人运动模式和系统组成，在此基础上设计建立了各运动模块的机构构型，并把执行器机构部件和形状记忆合金驱动器耦合成为整体，建立了机器人各关节的动力学模型和运动学模型，根据模型确定了机器人机构设计以及驱动器设计的关键参数。使用高强度工程塑料加工机器人壳体，采用3D打印柔软外壳和非对称足底，将2类合金丝固联在机器人体内，基于径向基函数（RBF）神经网络和支持度函数形成了最终的控制方案，并进行了前进方向的运动试验，验证了该机器人系统模型的正确性。
- 软体机器人 /
- 爬行机器人 /
- 动力学分析 /
- 运动学分析 /
- 形状记忆合金
Abstract: Soft robot, as a new type of flexible robot, is attracting more and more attention. How to build emergency ability in unpredictable environments is the key research goal of soft robot technology. For this problem, an intelligent driving-sensing based motion pattern and system component of semi-soft robot is proposed, and on this basis, the mechanism design configuration of each motion module is designed and established. By coupling the actuators with shape memory alloy drivers into a monolithic structure, dynamic model and kinematics model of robot joints are constituted. According to the model, the key parameters for mechanism design and driver design are determined. Robot shells are manufactured by high strength engineering plastics, and soft enclosure and asymmetric pelma are realized by 3D printing. Two types of alloy wires are fixed in the robot body, the radial basis function (RBF) neural network and support function are used to control the robot, and forward motion is finally tested, which verifies correctness of the proposed robot system model.
- soft robot /
- crawling robot /
- dynamic analysis /
- kinematics analysis /
- shape memory alloy

HTML全文

参考文献(24)

[1]	TRIVEDI D,RAHN C D,KIER W M,et al.Soft robotics:Biological inspiration,state of the art,and future research[J].Applied Bionics and Biomechanics,2008,5(3):99-117.
[2]	KIM S,LASCHI C,TRIMMER B.Soft robotics:A bioinspired evolution in robotics[J].Trends in Biotechnology,2013,31(5):23-30.
[3]	SRINIVASAN M,RUINA A.Computer optimization of a minimal biped model discovers walking and running[J].Nature,2006,439(7072):72-75.
[4]	MARVI H,GONG C H,GRAVISH N,et al.Sidewinding with minimal slip:Snake and robot ascent of sandy slopes[J].Science,2014,346(6206):224-229.
[5]	BAISCH A T,SREETHARAN P S,WOOD R J.Biologically-inspired locomotion of a 2g hexapod robot[C]//Proceedings of IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE Press,2010:5360-5365.
[6]	ELPHICK M R,MELARANGE R.Neural control of muscle relaxation in echinoderms[J].Journal of Experimental Biology,2001,204(5):875-885.
[7]	OBEROI H,DRAPER A,THOMPSON P.Production implementation of a multi spindle flexible drilling system for circumferential splice drilling applications on the 777 airplane[C]//SAE 2009 Aerospace Technology Conference and Exposition.Warrendale,PA:SAE Press,2009:257-262.
[8]	SHEPHERD R F,STOKES A A,NUNES R,et al.Soft machines that are resistant to puncture and that self seal[J].Advanced Materials,2013,25(46):6709-6713.
[9]	WRIGHT C,BUCHAN A,BROWN B,et al.Design and architecture of the unified modular snake robot[C]//Proceedings of IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE Press,2012:4347-4354.
[10]	SEOK S,ONAL C D,WOOD R,et al.Peristaltic locomotion with antagonistic actuators in soft robotics[C]//Proceedings of IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE Press,2010:1228-1233.
[11]	LASCHI C,CIANCHETTI M,MAZZOLAI B,et al.Soft robot arm inspired by the octopus[J].Advanced Robotics,2012,26(7):709-727.
[12]	UMEDACHI T,TRIMMER B A.Design of a 3D-printed soft robot with posture and steering control[C]//Proceedings of IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE Press,2014:2874-2879.
[13]	MORIN S A,SHEPHERD R F,KWOK S W,et al.Camouflage and display for soft machines[J].Science,2012,337(6096):828-832.
[14]	LI C,ZHANG T N,GOLDMAN D I.A terradynamics of legged locomotion on granular media[J].Science,2013,339(6126):1408-1412.
[15]	CHAN V,PARK K,COLLENS M B,et al.Development of miniaturized walking biological machines[J].Scientific Reports,2012,2(7424):328-329.
[16]	UMEDACHI T,VIKAS V,TRIMMER B A.Highly deformable 3-D printed soft robot generating inching and crawling locomotions with variable friction legs[C]//Proceedings of IEEE/RSJ 2013 International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE Press,2013:4590-4595.
[17]	QIN C J, MA P S,YAO Q.A prototype micro-wheeled-robot using SMA actuator[J].Sensors and Actuators A-Physical,2004,113(1):94-99.
[18]	ASUA E,FEUTCHWANGER J,GARCIA-ARRIBAS A,et al.Sensorless control of SMA-based actuators using neural networks[J].Journal of Intelligent Material Systems and Structures,2010,21(18):1809-1818.
[19]	KOHL M,JUST E,PFLEGING W,et al.SMA microgripper with integrated antagonism[J].Sensors and Actuators A-Physical,2000,83(1-3):208-213.
[20]	崔迪,李宏男,宋钢兵.NiTi形状记忆合金电阻特性研究[J].建筑材料学报,2008,11(5):567-573.CUI D,LI H N,SONG G B.NiTi shape memory alloy resistance characteristic study[J].Journal of Building Materials,2008,11(5):567-573(in Chinese).
[21]	SAHA A,CHRISTIAN J,TANG D S,et al.Oriented non-radial basis functions for image coding and analysis[C]//Proceedings of IEEE 1990 International Conference on Advances in Neural Information Processing Systems.Piscataway,NJ:IEEE Press,1990:728-734.
[22]	POZNYAK A S,SANCHEZ E N,YU W.Differential neural networks for robust nonlinear control:Identification,state estimation and trajectory tracking[J].International Journal of Adaptive Control and Signal Processing,2004,18(3):315-316.
[23]	王婷杰,施惠昌.一种基于模糊理论的一致性数据融合方法[J].传感器技术,1999,18(6):50-53.WANG T J,SHI H C.A kind of the consistency of the data fusion method based on fuzzy theory[J].Journal of Transducer Technology,1999,18(6):50-53(in Chinese).
[24]	罗中良,高潮,王方连,等.不确定信息的数字滤波器设计及应用[J].传感器技术,2002,21(5):24-26.LUO Z L,GAO C,WANG F L,et al.The digital filter design and application of uncertain information[J].Journal of Transducer Technology,2002,21(5):24-26(in Chinese).