气动肌纤维驱动仿生机体类生物变刚度特性分析

doi:10.3901/JME.2022.21.038

摘要/Abstract

摘要： 四足机器人的仿生机体，大多采用刚性或单自由度机体结构，限制了四足机器人的机动性和灵活性。基于四足生物躯体解剖结构及动态弯曲运动机理分析，设计一种气动肌纤维驱动的刚柔耦合仿生机体，可实现变刚度侧向弯曲。根据仿生机体的结构，分析仿生椎间盘、仿生韧带、仿生肌肉等主要组成要素的刚度，提出一种仿生机体的串并联式刚度模型，建立仿生机体的刚度与气动肌纤维输入气压间的关系，探究在不同驱动方式下仿生机体的局部、整体变刚度特性。设计仿生机体的变刚度测试实验平台，分别开展仿生机体的局部、整体动态弯曲试验，分析其主动变刚度特性。实验结果表明，通过改变气动肌纤维的布置及充气压力，能实现仿生机体的动态弯曲，具有类生物的局部或整体变刚度特性。创新研究的仿生机体及驱动方式，为提高四足机器人的机动性提供借鉴。

关键词: 气动肌纤维, 仿生机体, 动态弯曲, 串并联刚度, 类生物变刚度

Abstract: The bionic bodies of quadruped robots mostly adopt rigid or single-DOF body structure, which limits the mobility and flexibility of quadruped robots. Based on the analysis of the anatomical structure of the quadruped creature and the dynamic bending principle, a kind of rigid-flexible coupled bionic body driven by pneumatic muscle fibers is designed, which can realize lateral bending with variable stiffness. According to the structural of the bionic body, the stiffness of the main components of the bionic intervertebral disc, bionic ligament and bionic muscle is analyzed, respectively. Then a kind of series-parallel stiffness model of the bionic body is proposed, and the relationship between the bionic body's stiffness and the input pressure of the pneumatic muscle fiber is derived. The local and overall variable stiffness characteristics of the bionic body under different driving modes is studied. The bionic body experimental platform is conducted for testing the variable stiffness characteristic, and the dynamic bending experiment of the partial and whole bionic body is performed, respectively. The active variable stiffness characteristics is analyzed. The experimental results show that the designed bionic body can achieve dynamic bending by changing the arrangement of the pneumatic muscle fibers and the inflation pressure, which has the biological characteristics with partial or whole variable stiffness. The innovative study on the structure and driving mode of the bionic body will provide a reference for improving the mobility of the quadruped robot.

Key words: pneumatic muscle fiber, bionic body, dynamic bending, series and parallel stiffness, biological variable stiffness

中图分类号:

TG156

雷静桃, 张悦文. 气动肌纤维驱动仿生机体类生物变刚度特性分析[J]. 机械工程学报, 2022, 58(21): 38-49.

LEI Jingtao, ZHANG Yuewen. Analysis on the Characteristics with Biological Variable Stiffness of the Bionic-body Driven by Pneumatic Muscle Fibers[J]. Journal of Mechanical Engineering, 2022, 58(21): 38-49.

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