CN106737626A - A kind of snake-shaped robot and biomimetic control method with flexible link - Google Patents
A kind of snake-shaped robot and biomimetic control method with flexible link Download PDFInfo
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- CN106737626A CN106737626A CN201611192311.8A CN201611192311A CN106737626A CN 106737626 A CN106737626 A CN 106737626A CN 201611192311 A CN201611192311 A CN 201611192311A CN 106737626 A CN106737626 A CN 106737626A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The present invention relates to a kind of snake-shaped robot with flexible link and biomimetic control method.The snake-shaped robot mainly includes several basic unit modules, can realize that snake-shaped robot build scale is adjusted by increasing and decreasing basic unit module, and each basic unit module drives joint arrangement two parts to constitute by a flexible unit and one.Wherein flexible unit includes preceding semicircle U-frame, I-shaped flexible body, driven pulley, rear semicircle U-frame and bend sensor.Driving joint arrangement includes digital rudder controller, steering wheel output panel, U-shaped swing arm and 3 outer frameworks.Present invention is alternatively directed to designed snake-shaped robot, it is proposed that a kind of bionic movement control method based on double-deck central pattern generator (cpg).The present invention significantly reduces snake-shaped robot energy consumption and control system complexity, simply with reference to rigid mechanism and compliant mechanism, snake-shaped robot is possessed passive environmental suitability, and realize efficient motion control using bend sensor.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of snake-shaped robot with flexible link and its bionical
Control method.
Background technology
The motor pattern of biological snake has robustness higher, stability and environmental suitability, wherein sidewinding motion
It is one of biological snake most typically and most efficient motor pattern.Snake-shaped robot is a kind of multiple degrees of freedom with biological snake as prototype
Under-actuated bionic robot, the spine structure of biological snake is simulated using joint and connecting rod.Snake-shaped robot has unique structure, control
The advantages of making flexible, can realize that stabilization is neatly moved, therefore be applied to earthquake, fire more in small space or complicated landform
The post-disaster search and rescue such as calamity field.
Inspired with the development of robot mechanism and by bionics, the compliant characteristic of robot had been obtained more and more in recent years
Extensive concern.To improve the sport efficiency and performance of snake-shaped robot, three kinds of modes are mainly used at present：（1）By complexity
Control system（Such as Force control system, impedance control）The snake-shaped robot of rigid structure is set to realize compliant movement；（2）Utilize
Flexible joint（Such as series elastic driver, variation rigidity driver）The compliant movement of snake-shaped robot is realized, with certain
Passive type adaptability；（3）Using Grazing condition Design of Mechanical Structure snake-shaped robot.But there is following defect in three of the above method：
（1）Energy consumption of the snake-shaped robot of rigid structure in motion process is higher, and realizes the control of compliant movement and environmental suitability
System processed is complex；（2）The mechanical structure of flexible joint is complex, largely increased making for snake-shaped robot
Valency；（3）The snake-shaped robot control accuracy of Complete compliant mechanism is relatively low.
The content of the invention
In view of the shortcomings of the prior art, the present invention proposes a kind of snake-shaped robot and its biomimetic control with flexible link
Method, to overcome the control system that is previously mentioned in background technology and complicated in mechanical structure, energy consumption be higher and the low skill of control accuracy
Art defect.
The present invention is achieved through the following technical solutions：
Snake-shaped robot with flexible link of the invention mainly includes the basic unit module of several serial connections, substantially
Connection is screwed between unit module, realizes that extension snake-shaped robot build is advised by adding or reducing basic unit module
Mould.
Each basic unit module drives joint arrangement to be formed by fixedly connecting by a flexible unit and one.It is wherein flexible
Unit includes preceding semicircle U-frame, I-shaped flexible body, driven pulley, rear semicircle U-frame and bend sensor.Described is I-shaped
Flexible body uses elastomeric material, and two mounting holes are processed respectively at its two ends, front and rear semicircle U-frame respectively with I-shaped flexible body
The mounting hole at two ends is fixedly connected, and the outline of front and rear semicircle U-frame is tangent, and I-shaped flexible body is in external force（Elementary cell mould
Internal force or snake-shaped robot are by external force of environment etc. between block）In the presence of, can be around the rotation of its perpendicular bisector.Driven pulley is arranged on rear semicircle
On the rotary shaft hole of U-frame, bend sensor is installed in the centre bore of I-shaped flexible body, realizes the bending of I-shaped flexible body
Degree measurement.
Driving joint arrangement includes digital rudder controller, steering wheel output panel, U-shaped swing arm and 3 outer frameworks.Steering wheel output panel and number
Word steering wheel is fixedly connected by spline with screw.U-shaped swing arm is fixedly connected with steering wheel output panel, and U-shaped swing arm is substantially single with next
The preceding semicircle U-frame of element module is fixedly connected, and 3 outer frameworks are separately mounted to digital rudder controller and remove U-shaped swing arm stationary plane in addition
On three faces, wherein, the outer framework relative with U-shaped swing arm is fixedly connected with the rear semicircle U-frame of this basic unit module.
To realize high efficiency, the high-performance motion of designed snake-shaped robot, the present invention also proposes a kind of based in bilayer
The bionic movement control method of pivot mode generator, double-deck central pattern generator (cpg) is divided into rhythm generator layer and motor neuron
Layer, controls the joint position signal of the phase and curve movement of snake-shaped robot joint action, its output directly to pass through RS- respectively
485 EBIs send the control unit inside digital rudder controller to, so as to realize the interarticular coordination of snake-shaped robot, enter
And promoting snake-shaped robot to move, motor neuron layer receives the feedback signal of the bend sensor from flexible unit, in real time
Adjust the form of snake-shaped robot.
The invention has the advantages that：First, snake-shaped robot energy consumption and control system complexity are significantly reduced；
2nd, simple flexible mechanical structure, makes snake-shaped robot possess certain passive adaptation, while reducing robot cost；3rd,
With reference to rigid mechanism and compliant mechanism, high accuracy, efficient motion control are realized using sensory feedback.
Brief description of the drawings
Fig. 1 snake-shaped robot overall structure figures；
Fig. 2 snake-shaped robot basic unit module structure charts；
Fig. 3 snake-shaped robot flexible unit structure charts；
The I-shaped flexible body of Fig. 4 snake-shaped robots and crooked sensory cellular construction figure；
Fig. 5 snake-shaped robots drive joint arrangement structure chart；
Fig. 6 snake-shaped robot Control system architecture block diagrams.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.
Shown in Figure 1, a kind of snake-shaped robot with flexible link of present invention design, the snake-shaped robot is included
Ten basic unit modules 1 of serial connection, it is allowed to which snakelike machine is realized by the quantity for increasing or decreasing basic unit module 1
The extension of human body type's scale.
Shown in Figure 2, snake-shaped robot basic unit module 1 is by flexible unit 3 and drives joint arrangement 2 to constitute, soft
Property unit 3 with drive joint arrangement 2 be serially fixedly connected again by mounting hole.
Referring to shown in Fig. 3 and Fig. 4, flexible unit 3 by preceding semicircle U-frame 101, I-shaped flexible body 102, follower 103,
Rear semicircle U-frame 104 and bend sensor 105 are constituted.I-shaped flexible body 102 is elastomeric material, is added respectively at its two ends
Work has mounting hole, and mounting hole of the front and rear semicircle U-frame respectively with the two ends of I-shaped flexible body 102 is fixedly connected, preceding semicircle U-frame
101 is tangent with the outline of rear semicircle U-frame 104, it is ensured that I-shaped flexible body 102 can only rotate around its perpendicular bisector, and pass through
The angle of bend of the I-shaped flexible body 102 of the real-time detection of bend sensor 105.
It is shown in Figure 5, drive joint arrangement 2 to include digital rudder controller 202, steering wheel output panel 204, U-shaped swing arm 203 and 3
Individual outer framework 201,205,206.Steering wheel output panel 204 is fixedly connected with digital rudder controller 202 by spline and screw.U-shaped swing arm
203 are fixedly connected with steering wheel output panel 204, and 3 outer frameworks 201,205,206 are separately mounted to digital rudder controller 202 except U-shaped swing arm
On other three face of stationary plane.U-shaped swing arm 203 is fixed with the preceding semicircle U-frame 101 of next basic unit module by mounting hole
Connection, the outer framework 206 on the face relative with U-shaped swing arm passes through with the rear semicircle U-frame 104 of this basic unit module
Mounting hole is fixedly connected.
It is shown in Figure 6, for the snake-shaped robot designed by the present invention, propose a kind of based on double-deck central mode generation
The motion controller of device, the motion controller includes rhythm generator layer 301, motor neuron 302 and PID of layer modules 303.Its
Middle PID modules 303 are provided by the built-in control unit of digital rudder controller 202, the rhythm and pace of moving things neuron models of rhythm generator layer 301
Formula is such as（1-1）Shown, the motor neuron model formation of motor neuron layer 302 is such as（1-2）It is shown.By DSP F2812
Main control unit 304 realizes the calculating of bionic movement control signal, and its output is sequentially transmitted to number through RS-485 communication bus interfaces
Word steering wheel 202.The bend sensor 105 in I-shaped flexible body 102 in flexible unit 3 is via DSP F2812 main control units
304 ADC detects its output angle, brings the value into formula（1-2）Calculate the joint control signal of snake-shaped robot.
Wherein, parameter θiIt is the state variable of rhythm and pace of moving things neuron, ωiIt is the intrinsic frequency of rhythm and pace of moving things neuron, wijIt is the rhythm and pace of moving things
Interneuronal coupled weight, ΦiIt is the output signal of rhythm and pace of moving things neuronal layers 301.
Wherein, parameter ziIt is the state variable of motor neuron, yiThe output variable of motor neuron, τ is motor neuron
Time constant, α and β is the proportionality constant of motor neuron, keeps equation α=4 β, ydes(Φi) it is the control of snake-shaped robot joint
Object function processed, AiIt is joint oscillation amplitude, xiIt is joint side-play amount, ξiRepresent the feed back input of bend sensor 105.
Claims (9)
1. a kind of snake-shaped robot with flexible link, it is characterised in that the basic unit module being connected in series by several
Composition, is screwed connection between each basic unit module；The basic unit module is by a flexible unit and one
Joint arrangement is driven to be formed by fixedly connecting.
2. the snake-shaped robot with flexible link according to claim 1, it is characterised in that the flexible unit includes
Preceding semicircle U-frame, I-shaped flexible body, driven pulley, rear semicircle U-frame and bend sensor；The two of the I-shaped flexible body
End is machined with mounting hole respectively, and the front and rear semicircle U-frame is fixed with the mounting hole at the I-shaped flexible body two ends connect respectively
Connect, the outline of the front and rear semicircle U-frame is tangent, and I-shaped flexible body under external force, rotates around its perpendicular bisector；It is described
Driven pulley is arranged on the rotary shaft hole of rear semicircle U-frame；Crooked sensory is installed in the centre bore of the I-shaped flexible body
Device.
3. the snake-shaped robot with flexible link according to claim 2, it is characterised in that described I-shaped flexibility
Body uses elastomeric material.
4. the snake-shaped robot with flexible link according to claim 2, it is characterised in that the driving joint arrangement
Including digital rudder controller, steering wheel output panel, U-shaped swing arm and 3 outer frameworks；The steering wheel output panel is fixedly connected with digital rudder controller, U
Shape swing arm is fixedly connected with steering wheel output panel；The U-shaped swing arm is fixed with the preceding semicircle U-frame of next basic unit module and connected
Connect；3 outer frameworks be separately mounted to digital rudder controller except U-shaped swing arm stationary plane other three face on, installed in U-shaped swing arm
Outer framework on opposite face is fixedly connected with the rear semicircle U-frame of this basic unit module.
5. the snake-shaped robot with flexible link according to claim 4, it is characterised in that the steering wheel output panel with
Digital rudder controller is fixedly connected by spline with screw.
6. the snake-shaped robot with flexible link according to claim 4, it is characterised in that the U-shaped swing arm and outer
Mounting hole is equipped with framework.
7. the biomimetic control method of the snake-shaped robot described in a kind of any one of claim 4-6, it is characterised in that based on bilayer
Central pattern generator (cpg), including rhythm generator layer, motor neuron layer and PID modules；The rhythm generator layer and motion
Neuronal layers control the phase and curve movement of snake-shaped robot joint action respectively；The PID modules are by digital rudder controller
Control unit offer is provided.
8. the biomimetic control method of snake-shaped robot according to claim 7, it is characterised in that the rhythm generator layer
Neuron models formula such as（1-1）It is shown：
Wherein, parameter θiIt is the state variable of rhythm and pace of moving things neuron, ωiIt is the intrinsic frequency of rhythm and pace of moving things neuron, wijIt is rhythm and pace of moving things neuron
Between coupled weight, ΦiIt is the output signal of rhythm and pace of moving things neuronal layers；
The neuron models formula of the motor neuron layer is such as（1-2）It is shown：
Wherein, parameter ziIt is the state variable of motor neuron, yiThe output variable of motor neuron, when τ is motor neuron
Between constant, α and β is the proportionality constant of motor neuron, keeps equation α=4 β, ydes(Φi) it is snake-shaped robot joint control mesh
Scalar functions, AiIt is joint oscillation amplitude, xiIt is joint side-play amount, ξiRepresent the feed back input of bend sensor.
9. the biomimetic control method of snake-shaped robot according to claim 8, it is characterised in that DSP F2812 master control lists
Unit realizes the calculating of bionic movement control signal, is sequentially transmitted to digital rudder controller through RS-485 communication bus interfaces；Flexible unit
Interior bend sensor detects its output angle via the ADC of DSP F2812 main control units, brings the value into formula（1-2）Calculate
The joint control signal of snake-shaped robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611192311.8A CN106737626B (en) | 2016-12-21 | 2016-12-21 | Snake-shaped robot with flexible connecting rod and bionic control method |
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| CN201611192311.8A CN106737626B (en) | 2016-12-21 | 2016-12-21 | Snake-shaped robot with flexible connecting rod and bionic control method |
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| CN106737626B CN106737626B (en) | 2023-05-26 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584482A (en) * | 2017-10-23 | 2018-01-16 | 南京理工大学 | A kind of snake-shaped robot |
| CN108762198A (en) * | 2018-07-12 | 2018-11-06 | 华南理工大学 | A kind of rigidity and flexible motion move synchronously jack control device and method |
| CN109434815A (en) * | 2018-11-27 | 2019-03-08 | 东南大学 | A kind of snake-shaped robot and its joint trajectories/stiffness reliability method based on CPG model |
| CN109968399A (en) * | 2017-12-28 | 2019-07-05 | 中国科学院沈阳自动化研究所 | A kind of single motor variation rigidity joint |
| CN110125922A (en) * | 2019-03-12 | 2019-08-16 | 广东工业大学 | A kind of snake-shaped robot that rotating and swinging joint module is constituted |
| CN113427494A (en) * | 2021-07-02 | 2021-09-24 | 西安工业大学 | Bionic water snake-shaped robot based on dielectric elastomer |
| CN114260885A (en) * | 2022-01-27 | 2022-04-01 | 同济大学 | Bionic CPG motion regulation and control system and method of snake-like robot |
| CN114842729A (en) * | 2022-04-14 | 2022-08-02 | 南京工程学院 | Strong ground-grabbing demonstration bionic crawler |
| CN114842728A (en) * | 2022-04-14 | 2022-08-02 | 南京工程学院 | Single-gas-source demonstration bionic crawler |
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| CN206287139U (en) * | 2016-12-21 | 2017-06-30 | 南京工程学院 | A kind of snake-shaped robot with flexible link |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584482A (en) * | 2017-10-23 | 2018-01-16 | 南京理工大学 | A kind of snake-shaped robot |
| CN109968399A (en) * | 2017-12-28 | 2019-07-05 | 中国科学院沈阳自动化研究所 | A kind of single motor variation rigidity joint |
| CN108762198B (en) * | 2018-07-12 | 2020-05-22 | 华南理工大学 | Jack control device and method for synchronous movement of rigid movement and flexible movement |
| CN108762198A (en) * | 2018-07-12 | 2018-11-06 | 华南理工大学 | A kind of rigidity and flexible motion move synchronously jack control device and method |
| CN109434815B (en) * | 2018-11-27 | 2021-08-06 | 东南大学 | CPG model-based snake-shaped robot and joint track/rigidity control method thereof |
| CN109434815A (en) * | 2018-11-27 | 2019-03-08 | 东南大学 | A kind of snake-shaped robot and its joint trajectories/stiffness reliability method based on CPG model |
| CN110125922A (en) * | 2019-03-12 | 2019-08-16 | 广东工业大学 | A kind of snake-shaped robot that rotating and swinging joint module is constituted |
| CN113427494A (en) * | 2021-07-02 | 2021-09-24 | 西安工业大学 | Bionic water snake-shaped robot based on dielectric elastomer |
| CN114260885A (en) * | 2022-01-27 | 2022-04-01 | 同济大学 | Bionic CPG motion regulation and control system and method of snake-like robot |
| CN114842729A (en) * | 2022-04-14 | 2022-08-02 | 南京工程学院 | Strong ground-grabbing demonstration bionic crawler |
| CN114842728A (en) * | 2022-04-14 | 2022-08-02 | 南京工程学院 | Single-gas-source demonstration bionic crawler |
| CN114842729B (en) * | 2022-04-14 | 2023-12-05 | 南京工程学院 | Powerful ground-grabbing teaching bionic crawler |
| CN114842728B (en) * | 2022-04-14 | 2023-12-05 | 南京工程学院 | Single air source teaching bionic crawler |
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