CN106737626B - Snake-shaped robot with flexible connecting rod and bionic control method - Google Patents
Snake-shaped robot with flexible connecting rod and bionic control method Download PDFInfo
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- CN106737626B CN106737626B CN201611192311.8A CN201611192311A CN106737626B CN 106737626 B CN106737626 B CN 106737626B CN 201611192311 A CN201611192311 A CN 201611192311A CN 106737626 B CN106737626 B CN 106737626B
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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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Abstract
The invention relates to a snake-shaped robot with a flexible connecting rod and a bionic control method. The snake-shaped robot mainly comprises a plurality of basic unit modules, the scale adjustment of the body type of the snake-shaped robot can be realized by increasing or decreasing the basic unit modules, and each basic unit module consists of a flexible unit and a driving joint device. The flexible unit comprises a front semicircular U-shaped frame, an I-shaped flexible body, a driven wheel, a rear semicircular U-shaped frame and a bending sensor. The driving joint device comprises a digital steering engine, a steering engine output disc, a U-shaped swing arm and 3 outer frames. The invention also provides a bionic motion control method based on the double-layer central mode generator aiming at the designed snake-shaped robot. The invention effectively reduces the energy consumption and the complexity of a control system of the snake-shaped robot, simply combines the rigid mechanism and the flexible mechanism, ensures that the snake-shaped robot has passive environmental adaptability, and realizes high-efficiency motion control by utilizing the bending sensor.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a snake-shaped robot with a flexible connecting rod and a bionic control method thereof.
Background
The motion pattern of the biological snake is highly robust, stable and environmentally friendly, with side-to-side serpentine motion being one of the most typical and efficient motion patterns of biological snakes. The snake-shaped robot is a multi-degree-of-freedom underactuated bionic robot taking a biological snake as a prototype, and the joint and the connecting rod are utilized to simulate the spine structure of the biological snake. The snake-shaped robot has the advantages of unique structure, flexible control and the like, and can realize stable and flexible movement in a narrow space or complex terrain, so that the snake-shaped robot is widely applied to the field of search and rescue after disasters such as earthquakes, fires and the like.
With the development of robot mechanisms and inspired by bionics, the compliance characteristics of robots have gained more and more attention in recent years. In order to improve the motion efficiency and performance of the snake-shaped robot, three modes are mainly adopted at present: (1) The snake-shaped robot with a rigid structure realizes compliant motion through a complex control system (such as a force control system, an impedance control system and the like); (2) The flexible joints (such as a serial elastic driver, a variable stiffness driver and the like) are utilized to realize the flexible movement of the snake-shaped robot, so that the snake-shaped robot has certain passive adaptability; (3) designing the snake-shaped robot by adopting a fully flexible mechanical structure. However, the three methods have the following defects: (1) The snake-shaped robot with the rigid structure has higher energy consumption in the motion process, and a control system for realizing compliant motion and environmental adaptability is more complex; (2) The mechanical structure of the flexible joint is complex, so that the cost of the snake-shaped robot is greatly increased; (3) The snake-shaped robot of the full flexible mechanism has lower control precision.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a snake-shaped robot with a flexible connecting rod and a bionic control method thereof, and aims to overcome the technical defects of complex control system and mechanical structure, higher energy consumption, low control precision and the like in the background art.
The invention is realized by the following technical scheme:
the snake-shaped robot with the flexible connecting rod mainly comprises a plurality of basic unit modules which are connected in series, wherein the basic unit modules are fixedly connected through screws, and the body type scale of the snake-shaped robot is expanded by adding or reducing the basic unit modules.
Each basic unit module is formed by fixedly connecting a flexible unit and a driving joint device. The flexible unit comprises a front semicircular U-shaped frame, an I-shaped flexible body, a driven wheel, a rear semicircular U-shaped frame and a bending sensor. The I-shaped flexible body is made of rubber materials, two mounting holes are respectively formed in two ends of the I-shaped flexible body, the front semicircular U-shaped frame and the rear semicircular U-shaped frame are respectively fixedly connected with the mounting holes in two ends of the I-shaped flexible body, the outer contours of the front semicircular U-shaped frame and the rear semicircular U-shaped frame are tangent, and the I-shaped flexible body can rotate around the perpendicular line under the action of external force (internal force among basic unit modules or external force of the snake-shaped robot). The driven wheel is arranged on the rotary shaft hole of the rear semicircular U-shaped frame, and the bending sensor is arranged in the central hole of the I-shaped flexible body, so that the bending measurement of the I-shaped flexible body is realized.
The driving joint device comprises a digital steering engine, a steering engine output disc, a U-shaped swing arm and 3 outer frames. The steering wheel output disc is fixedly connected with the digital steering engine through a spline and a screw. The U-shaped swing arm is fixedly connected with the steering engine output disc, the U-shaped swing arm is fixedly connected with the front semicircular U-shaped frame of the next basic unit module, and 3 outer frames are respectively arranged on the other three sides of the digital steering engine except the U-shaped swing arm fixing surface, wherein the outer frames opposite to the U-shaped swing arm are fixedly connected with the rear semicircular U-shaped frame of the basic unit module.
In order to realize high-efficiency and high-performance movement of the designed snake-shaped robot, the invention also provides a bionic movement control method based on a double-layer central mode generator, wherein the double-layer central mode generator is divided into a rhythm generator layer and a motor neuron layer, the phase and movement curve of the movement of the joints of the snake-shaped robot are respectively controlled, the output joint position signals are directly transmitted to a control unit in a digital steering engine through an RS-485 bus interface, so that coordinated movement among joints of the snake-shaped robot is realized, the snake-shaped robot is further driven to move, and the motor neuron layer receives feedback signals from a bending sensor of a flexible unit to regulate the shape of the snake-shaped robot in real time.
The invention has the following beneficial effects: 1. the energy consumption and the complexity of a control system of the snake-shaped robot are effectively reduced; 2. the snake-shaped robot has a certain passive adaptability due to a simple flexible mechanical structure, and meanwhile, the manufacturing cost of the robot is reduced; 3. and the rigid mechanism and the flexible mechanism are combined, and the motion control with high precision and high efficiency is realized by utilizing the sensing feedback.
Drawings
FIG. 1 is a diagram of the overall structure of a serpentine robot;
FIG. 2 is a block diagram of a base unit module of the serpentine robot;
FIG. 3 is a block diagram of a flexible unit of the serpentine robot;
FIG. 4 is a block diagram of a serpentine robotic character-shape flexible body and a bend sensing unit;
FIG. 5 is a block diagram of a serpentine robotic drive joint arrangement;
FIG. 6 is a block diagram of a serpentine robotic control system.
Detailed Description
The invention will now be described in further detail with reference to the drawings and examples.
Referring to fig. 1, a serpentine robot with flexible links according to the present invention includes ten base unit modules 1 connected in series, allowing for the extension of the human body type of the serpentine robot by increasing or decreasing the number of base unit modules 1.
Referring to fig. 2, the serpentine robot base unit module 1 is composed of a flexible unit 3 and a driving joint device 2, and the flexible unit 3 and the driving joint device 2 are also fixedly connected in series through a mounting hole.
Referring to fig. 3 and 4, the flexible unit 3 is constituted by a front semicircular U-shaped frame 101, an i-shaped flexible body 102, a driven wheel 103, a rear semicircular U-shaped frame 104, and a bending sensor 105. The I-shaped flexible body 102 is made of rubber materials, mounting holes are respectively formed in two ends of the I-shaped flexible body, the front semicircular U-shaped frame and the rear semicircular U-shaped frame are respectively and fixedly connected with the mounting holes in two ends of the I-shaped flexible body 102, the front semicircular U-shaped frame 101 is tangent to the outer outline of the rear semicircular U-shaped frame 104, the I-shaped flexible body 102 is guaranteed to rotate around the perpendicular bisector only, and the bending angle of the I-shaped flexible body 102 is detected in real time through the bending sensor 105.
Referring to fig. 5, the drive joint device 2 includes a digital steering engine 202, a steering engine output disc 204, a U-shaped swing arm 203, and 3 outer frames 201, 205, 206. The steering engine output disc 204 is fixedly connected with the digital steering engine 202 through a spline and a screw. The U-shaped swing arm 203 is fixedly connected with the steering engine output disc 204, and the 3 outer frames 201, 205 and 206 are respectively arranged on the other three sides of the digital steering engine 202 except the U-shaped swing arm fixing surface. The U-shaped swing arm 203 is fixedly connected with the front semicircular U-shaped frame 101 of the next base unit module through a mounting hole, and the outer frame 206 mounted on the face opposite to the U-shaped swing arm is fixedly connected with the rear semicircular U-shaped frame 104 of the present base unit module through a mounting hole.
Referring to fig. 6, for the serpentine robot designed by the present invention, a motion controller based on a dual-layer central pattern generator is proposed, which comprises a rhythm generator layer 301, a motor neuron layer 302 and a PID module 303. The PID module 303 is provided by a built-in control unit of the digital steering engine 202, a rhythmic neuron model formula of the rhythmic generator layer 301 is shown as (1-1), and a motor neuron model formula of the motor neuron layer 302 is shown as (1-2). The calculation of the bionic motion control signal is realized through the DSP F2812 main control unit 304, and the output of the bionic motion control signal is sequentially transmitted to the digital steering engine 202 through an RS-485 communication bus interface. The bending sensor 105 in the i-shaped flexible body 102 in the flexible unit 3 detects its output angle via the ADC of the DSP F2812 main control unit 304, and brings this value into (1-2) to calculate the joint control signal of the snake-shaped robot.
Wherein the parameter theta i Is a state variable, ω, of a rhythmic neuron i Is the natural frequency of the rhythmic neurons, w ij Is the coupling weight between rhythmic neurons, Φ i Is the output signal of the rhythmic neuron layer 301.
Wherein the parameter z i Is a state variable of motor neurons, y i The output variable of motor neuron, τ is the time constant of motor neuron, α and β are the proportionality constants of motor neuron, and hold the equation α=4β, y des (Φ i ) Is a snakelike robot joint control objective function, A i Is the oscillation amplitude of the joint, x i Is the offset of the joint, ζ i Representing the feedback input of the bending sensor 105.
Claims (4)
1. A bionic control method of a snake-shaped robot with a flexible connecting rod is characterized in that the snake-shaped robot consists of a plurality of basic unit modules which are connected in series, and the basic unit modules are fixedly connected through screws; the basic unit module is formed by fixedly connecting a flexible unit and a driving joint device; the flexible unit comprises a front semicircular U-shaped frame, an I-shaped flexible body, a driven wheel, a rear semicircular U-shaped frame and a bending sensor; the two ends of the I-shaped flexible body are respectively provided with a mounting hole, the front semicircular U-shaped frame is fixedly connected with the mounting hole at one end of the I-shaped flexible body, the rear semicircular U-shaped frame is fixedly connected with the mounting hole at the other end of the I-shaped flexible body, the outer contours of the front semicircular U-shaped frame and the rear semicircular U-shaped frame are tangent, and the I-shaped flexible body rotates around a perpendicular line under the action of external force; the driven wheel is arranged on the rotary shaft hole of the rear semicircular U-shaped frame; a bending sensor is arranged in the central hole of the I-shaped flexible body;
the driving joint device comprises a digital steering engine, a steering engine output disc, a U-shaped swing arm and 3 outer frames; the steering engine output disc is fixedly connected with the digital steering engine, and the U-shaped swing arm is fixedly connected with the steering engine output disc; the U-shaped swing arm is fixedly connected with a front semicircular U-shaped frame of the next basic unit module; the 3 outer frames are respectively arranged on the other three sides of the U-shaped swing arm fixing surface of the digital steering engine, and the outer frames arranged on the surface opposite to the U-shaped swing arm are fixedly connected with the rear semicircular U-shaped frame of the basic unit module;
the bionic control method is based on a double-layer central mode generator and comprises a rhythm generator layer, a motor neuron layer and a PID module; the rhythm generator layer and the motor neuron layer respectively control the phase and the motion curve of the action of the snake-shaped robot joint; the PID module is provided by a built-in control unit of the digital steering engine; the neuron model formula of the rhythm generator layer is shown as (1-1):
wherein the parameter theta i Is a state variable, ω, of a rhythmic neuron i Is the natural frequency of the rhythmic neurons, w ij Is the coupling weight between rhythmic neurons, Φ i Is the output signal of the rhythmic neuron layer;
the neuron model formula of the motor neuron layer is shown as (1-2):
wherein the parameter z i Is a state variable of motor neurons, y i The output variable of motor neuron, τ is the time constant of motor neuron, α and β are the proportionality constants of motor neuron, and hold the equation α=4β, y des (Φ i ) Is a snakelike robot joint control objective function, A i Is the oscillation amplitude of the joint, x i Is the offset of the joint, ζ i A feedback input representing a bending sensor;
the DSP F2812 main control unit realizes calculation of bionic motion control signals of the snake-shaped robot and sequentially transmits the bionic motion control signals to the digital steering engine through the RS-485 communication bus interface; the bending sensor in the flexible unit detects the output angle of the bending sensor through the ADC of the DSP F2812 main control unit, and the output angle is brought into (1-2) to calculate joint control signals of the snake-shaped robot.
2. The bionic control method of the snake-shaped robot with the flexible connecting rod according to claim 1, wherein the I-shaped flexible body is made of rubber materials.
3. The biomimetic control method of a serpentine robot with a flexible linkage of claim 1, wherein the steering engine output disc is fixedly connected with the digital steering engine through splines and screws.
4. The bionic control method of the snake-shaped robot with the flexible connecting rod according to claim 1, wherein the U-shaped swing arm and the outer frame are provided with mounting holes.
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107584482A (en) * | 2017-10-23 | 2018-01-16 | 南京理工大学 | A kind of snake-shaped robot |
| CN109968399B (en) * | 2017-12-28 | 2021-05-11 | 中国科学院沈阳自动化研究所 | Single-motor variable-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 |
| 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 |
| CN109909986A (en) * | 2019-03-12 | 2019-06-21 | 广东工业大学 | A kind of small modular snake-shaped robot |
| CN113427494A (en) * | 2021-07-02 | 2021-09-24 | 西安工业大学 | Bionic water snake-shaped robot based on dielectric elastomer |
| CN114260885B (en) * | 2022-01-27 | 2023-08-04 | 同济大学 | Bionic CPG motion regulation and control system and method for snake-shaped robot |
| CN114842728B (en) * | 2022-04-14 | 2023-12-05 | 南京工程学院 | Single air source teaching bionic crawler |
| CN114842729B (en) * | 2022-04-14 | 2023-12-05 | 南京工程学院 | Powerful ground-grabbing teaching bionic crawler |
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