CN103744426A - Bionic flexible body bending control system of quadruped robot - Google Patents

Bionic flexible body bending control system of quadruped robot Download PDF

Info

Publication number
CN103744426A
CN103744426A CN201410000068.XA CN201410000068A CN103744426A CN 103744426 A CN103744426 A CN 103744426A CN 201410000068 A CN201410000068 A CN 201410000068A CN 103744426 A CN103744426 A CN 103744426A
Authority
CN
China
Prior art keywords
flexible body
bending control
bionic flexible
artificial muscle
control system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201410000068.XA
Other languages
Chinese (zh)
Other versions
CN103744426B (en
Inventor
雷静桃
俞煌颖
吴建东
任明明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Shanghai for Science and Technology
Original Assignee
University of Shanghai for Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201410000068.XA priority Critical patent/CN103744426B/en
Publication of CN103744426A publication Critical patent/CN103744426A/en
Application granted granted Critical
Publication of CN103744426B publication Critical patent/CN103744426B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Manipulator (AREA)
  • Prostheses (AREA)

Abstract

The invention relates to a bionic flexible body bending control system of a quadruped robot. The bionic flexible body bending control system comprises a bionic flexible body mechanism, a pneumatic circuit, a flexible body bending control circuit and a direct-current voltage source. According to the bionic flexible body bending control system, a bionic body is driven by pneumatic artificial muscles, has certain flexibility, and can be bent; the control system has the advantages of being easy to control, high in speed correspondingly and the like.

Description

The bending control system of a kind of quadruped robot Bionic flexible body
Technical field
The present invention relates to the bending control system of a kind of quadruped robot Bionic flexible body, for coordinating to realize quadruped robot with leg mechanism, turn to gait, belong to Robotics field.
Background technology
Tradition quadruped robot body is rigid unitary structure, although can realize divertical motion by the multiple degrees of freedom of leg mechanism and complicated motion planning, turning radius is large, and turning velocity is slow, can not meet maneuverability requirement under non-structure environment.The submissiveization design of quadruped robot body is the inevitable requirement that improves maneuverability and stationarity under quadruped robot destructuring environment.
Both at home and abroad quadruped robot Bionic flexible body is studied still in the incipient stage at present, still do not proposed a kind of control program of effective flexible body bending.The present invention is that the control of Bionic flexible body has proposed a solution.
Summary of the invention
The defect existing for prior art, the object of the invention is to propose the bending control system of a kind of quadruped robot Bionic flexible body, fills up the domestic control blank to the bending of Bionic flexible body.By the automatically controlled effective cooperation of gas circuit, realize Bionic flexible body with turning to gait planning to realize submissive bending.
For achieving the above object, the present invention adopts following technical proposals:
The bending control system of a kind of quadruped robot Bionic flexible body, comprises Bionic flexible body mechanism, pneumatic circuit, the bending control loop of flexible body and direct voltage source; Described Bionic flexible body mechanism comprises front body, spring, rear body, bionical vertebra, Pneumatic artificial muscle and bearing; Described Pneumatic artificial muscle is connected with rear body with front body by bearing; Described bionical vertebra is fixed on front body and rear body center position; Described both ends of the spring is fixed on front body and rear body, and spring and Pneumatic artificial muscle are about bionical vertebra rotational symmetry; Described pneumatic circuit comprises air compressor, reduction valve, two-bit triplet proportioning valve, pressure transducer; Air compressor connects reduction valve, two-bit triplet proportioning valve and pressure transducer successively by pipeline, and connects Pneumatic artificial muscle; Described flexible bending control loop comprises PC, data collecting card, range sensor, Laser emission end, laser pick-off end; Described PC connection data capture card, described data collecting card connects two-bit triplet proportioning valve, pressure transducer, range sensor and laser pick-off end successively; Described direct voltage source connects proportioning valve, pressure transducer, Laser emission end, laser pick-off end.
Compared with prior art, the present invention has following apparent substantive distinguishing features:
The present invention changes the design concept of traditional quadruped robot body rigidity, adopts Bionic flexible body mechanism, and vertebra is comprised of more piece, has more bio-imitability.The present invention adopts the driver of Pneumatic artificial muscle as flexible body, and the heat producing in operating process, noise and other objectionable impurities are few, and is applicable to severe working environment.The present invention proposes a kind of control program of controlling Pneumatic artificial muscle length variations and realizing the bending of Bionic flexible body, adopts FUZZY ALGORITHMS FOR CONTROL, without the transport function of calculating Pneumatic artificial muscle, just can realize good control to it.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the bending control system of a kind of quadruped robot Bionic flexible of the present invention body.
Fig. 2 is the bending view of controlling after body bending of a kind of quadruped robot Bionic flexible of the present invention body.
Fig. 3 is the bending control system schematic diagram of a kind of quadruped robot Bionic flexible of the present invention body.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail:
Referring to Fig. 1 and Fig. 2, the bending control system of a kind of quadruped robot Bionic flexible body, comprises the Bionic flexible body I of mechanism, pneumatic circuit II, the bending control loop III of flexible body and direct voltage source 7; The described Bionic flexible body I of mechanism comprises front body 8, spring 9, rear body 10, bionical vertebra 11, Pneumatic artificial muscle 15 and bearing 16; Described Pneumatic artificial muscle 15 is connected with rear body 10 with front body 8 by bearing 16; Described bionical vertebra 11 is fixed on front body 8 and rear body 10 centers; Described spring 9 two ends are fixed on front body 8 and rear body 10, and spring 9 and Pneumatic artificial muscle 15 are about bionical vertebra 11 rotational symmetry; Described pneumatic circuit II comprises air compressor 3, reduction valve 4, two-bit triplet proportioning valve 5, pressure transducer 6; Air compressor 3 connects reduction valve 4, two-bit triplet proportioning valve 5 and pressure transducer 6 successively by pipeline, and connects Pneumatic artificial muscle 15; Described flexible bending control loop III comprises PC 1, data collecting card 2, range sensor 13, Laser emission end 12, laser pick-off end 14; Described PC 1 connection data capture card 2, described data collecting card 2 connects two-bit triplet proportioning valve 5, pressure transducer 6, range sensor 13 and laser pick-off end 14 successively; Described direct voltage source 7 connects proportioning valve 5, pressure transducer 6, Laser emission end 12, laser pick-off end 14.
As shown in Figure 3, principle of operation of the present invention is as follows,
Range sensor 13 is measured the real time length of Pneumatic artificial muscle 15 in real time, Pneumatic artificial muscle 15 length signalses that data collecting card 2 Real-time Collection range sensors 13 record calculate Pneumatic artificial muscle 15 length poor of Pneumatic artificial muscle 15 length and data collecting card 2 Real-time Collections in PC 1; In PC 1, set up fuzzy controller, by the error signal of length and error signal differential input fuzzy controller, the output voltage signal drawing sends to proportioning valve 5 for resize ratio valve 5 valve openings of sizes, as shown in Figure 3 by data collecting card 2.
Laser emission end 12, laser pick-off end 14 be for limiting the Bionic flexible body I of mechanism maximum bend angle, prevents from bendingly excessive spring 9 being caused to non-response deformation; Its principle of work is: when Bionic flexible body, the I of mechanism reaches maximum bend angle, Laser emission end 12 is communicated with laser pick-off end 14, to data collecting card 2, send high level signal, when receiving this signal, data collecting card 2 closes proportioning valve 5 valve ports, stop passing into gas to Pneumatic artificial muscle 15, the Bionic flexible body I of mechanism will stop bending.

Claims (1)

1. the bending control system of quadruped robot Bionic flexible body, is characterized in that, comprises Bionic flexible body mechanism (I), pneumatic circuit (II), flexible body bending control loop (III) and direct voltage source (7); Described Bionic flexible body mechanism (I) comprises front body (8), spring (9), rear body (10), bionical vertebra (11), Pneumatic artificial muscle (15) and bearing (16); Described Pneumatic artificial muscle (15) is connected with rear body (10) with front body (8) by bearing (16); Described bionical vertebra (11) is fixed on front body (8) and rear body (10) center; Described spring (9) two ends are fixed on front body (8) and rear body (10) is upper, and spring (9) and Pneumatic artificial muscle (15) are about bionical vertebra (11) rotational symmetry; Described pneumatic circuit (II) comprises air compressor (3), reduction valve (4), two-bit triplet proportioning valve (5), pressure transducer (6); Air compressor (3) connects reduction valve (4), two-bit triplet proportioning valve (5) and pressure transducer (6) successively by pipeline, and connects Pneumatic artificial muscle (15); Described flexible bending control loop (III) comprises PC (1), data collecting card (2), range sensor (13), Laser emission end (12), laser pick-off end (14); Described PC (1) connection data capture card (2), described data collecting card (2) connects two-bit triplet proportioning valve (5), pressure transducer (6), range sensor (13) and laser pick-off end (14) successively; Described direct voltage source (7) connects proportioning valve (5), pressure transducer (6), Laser emission end (12), laser pick-off end (14).
CN201410000068.XA 2014-01-02 2014-01-02 A kind of quadruped robot Bionic flexible body bends control system Expired - Fee Related CN103744426B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410000068.XA CN103744426B (en) 2014-01-02 2014-01-02 A kind of quadruped robot Bionic flexible body bends control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410000068.XA CN103744426B (en) 2014-01-02 2014-01-02 A kind of quadruped robot Bionic flexible body bends control system

Publications (2)

Publication Number Publication Date
CN103744426A true CN103744426A (en) 2014-04-23
CN103744426B CN103744426B (en) 2016-03-30

Family

ID=50501453

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410000068.XA Expired - Fee Related CN103744426B (en) 2014-01-02 2014-01-02 A kind of quadruped robot Bionic flexible body bends control system

Country Status (1)

Country Link
CN (1) CN103744426B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104800040A (en) * 2015-03-06 2015-07-29 合肥工业大学 Device and method for detecting dynamic property of parallel waist recovery training device
CN108638052A (en) * 2018-03-29 2018-10-12 南京航空航天大学 A kind of closed chain formula multi-arm robot Shared control method
CN108749951A (en) * 2018-06-11 2018-11-06 山东大学 A kind of quadruped robot
CN110253562A (en) * 2019-06-04 2019-09-20 广东省智能制造研究所 A kind of quadruped robot flexible spinal based on pneumatic muscles
CN115157313A (en) * 2022-08-25 2022-10-11 东北大学 Bionic flexible mechanical arm driven by pneumatic muscles

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1618580A (en) * 2004-10-23 2005-05-25 江南大学 Plate spring skeleton hydrulic pneumatic flexible bending joint
CN101251756A (en) * 2007-12-21 2008-08-27 西北工业大学 All fours type bionic robot control device
US20090182436A1 (en) * 2006-02-24 2009-07-16 Paolo Ferrara Robot Arm
CN103144101A (en) * 2013-03-26 2013-06-12 上海大学 Flexible body of bionic robot
CN103303389A (en) * 2013-07-08 2013-09-18 北京理工大学 Adjustable and controllable flexible bendable biological lumbar vertebrae structure system for four-foot robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1618580A (en) * 2004-10-23 2005-05-25 江南大学 Plate spring skeleton hydrulic pneumatic flexible bending joint
US20090182436A1 (en) * 2006-02-24 2009-07-16 Paolo Ferrara Robot Arm
CN101251756A (en) * 2007-12-21 2008-08-27 西北工业大学 All fours type bionic robot control device
CN103144101A (en) * 2013-03-26 2013-06-12 上海大学 Flexible body of bionic robot
CN103303389A (en) * 2013-07-08 2013-09-18 北京理工大学 Adjustable and controllable flexible bendable biological lumbar vertebrae structure system for four-foot robot

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
FRED DELCOMYN等: "Architectures for a biomimetic hexapod robot", 《ROBOTICS AND AUTONOMOUS SYSTEMS》, vol. 30, no. 12, 31 January 2000 (2000-01-31), pages 5 - 15 *
马昕等: "四足仿生机器人的分层实时控制系统", 《山东大学学报（工学版）》, vol. 42, no. 4, 31 August 2012 (2012-08-31) *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104800040A (en) * 2015-03-06 2015-07-29 合肥工业大学 Device and method for detecting dynamic property of parallel waist recovery training device
CN108638052A (en) * 2018-03-29 2018-10-12 南京航空航天大学 A kind of closed chain formula multi-arm robot Shared control method
CN108638052B (en) * 2018-03-29 2020-12-25 南京航空航天大学 Closed-chain multi-arm robot compliance control method
CN108749951A (en) * 2018-06-11 2018-11-06 山东大学 A kind of quadruped robot
CN108749951B (en) * 2018-06-11 2021-07-30 山东大学 Quadruped robot
CN110253562A (en) * 2019-06-04 2019-09-20 广东省智能制造研究所 A kind of quadruped robot flexible spinal based on pneumatic muscles
CN110253562B (en) * 2019-06-04 2024-05-17 广东省智能制造研究所 Flexible backbone of quadruped robot based on pneumatic muscle
CN115157313A (en) * 2022-08-25 2022-10-11 东北大学 Bionic flexible mechanical arm driven by pneumatic muscles

Also Published As

Publication number Publication date
CN103744426B (en) 2016-03-30

Similar Documents

Publication Publication Date Title
CN103744426B (en) A kind of quadruped robot Bionic flexible body bends control system
CN107131391B (en) A kind of adaptive screwdriven pipe robot
CN106113019A (en) Multi-joint flexible manipulator arm
CN106671091B (en) A kind of robot hydraulic-driven cradle head closed-loop control system
CN104503450A (en) Service robot achieving intelligent obstacle crossing
CN205315946U (en) Symmetry V type pipeline robot
CN104808664A (en) Method for realizing intelligent obstacle crossing
CN107081744A (en) Bellows fluid drive lacking articulated robot finger apparatus
CN102032417B (en) Pipeline robot driving mechanism
CN205898433U (en) Controller detection device
CN102673674A (en) Bionic elastic spine mechanism of quadruped robots
CN104015182A (en) Snakelike robot
CN110561391B (en) Inertia information feedforward control device and method for lower limb exoskeleton system
CN210023361U (en) Pipeline bending device is used in installation of warm class electromechanical device that leads to
CN114576464A (en) Self-adaptive intelligent pipeline robot and intermittent cycle driving method
CN205371944U (en) Dual output motor drive's bilateral symmetry drive wheel pipeline robot
CN205799474U (en) Piston drives magnetic current flexible machine hand apparatus
CN204921506U (en) Shield constructs section of jurisdiction assembles quick -witted hydraulic motor control system
CN203779493U (en) Snake-shaped robot with capability of adapting to uneven ground
CN206869879U (en) Bellows fluid drive lacking articulated robot finger apparatus
CN109129119A (en) A kind of movable type blade adaptive robot polishing system and control method
CN208793487U (en) A kind of rice transplanter fertilising selection type multiple groups clutch-linkage control mechanism
CN207644085U (en) A kind of distributed automatic inflatable/air control system of tire
CN207687568U (en) A kind of pipe robot anti-slip wheel assembly
CN108214480A (en) A kind of compensation mechanical arm driving device of energy storage

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160330

Termination date: 20200102

CF01 Termination of patent right due to non-payment of annual fee