CN113705049A - Soft robot dynamics simulation method - Google Patents
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- CN113705049A CN113705049A CN202110986668.8A CN202110986668A CN113705049A CN 113705049 A CN113705049 A CN 113705049A CN 202110986668 A CN202110986668 A CN 202110986668A CN 113705049 A CN113705049 A CN 113705049A
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Abstract
The invention provides a soft robot dynamics simulation method, and relates to the technical field of robot simulation. The invention discloses a soft robot dynamics simulation method, which comprises the following steps: establishing a software robot finite element model in RecurDyn simulation software; importing a ground simulation model into the RecurDyn simulation software to establish a soft foot-ground contact mechanical model between the sole of the soft robot and the ground; and performing motion planning on the soft robot to realize the soft motion simulation of the soft robot on different ground surfaces based on the soft foot-ground contact mechanical model. According to the technical scheme, the combined dynamics simulation of the RecurDyn multi-body dynamics simulation software and other software is adopted, the motion simulation of the soft robot based on the foot-ground contact mechanics is realized, an improvement and structure optimization scheme can be provided for the design, manufacture and experiment of the soft robot through a simulation result, and the experiment cost is effectively saved.
Description
Technical Field
The invention relates to the technical field of robot simulation, in particular to a soft robot dynamics simulation method.
Background
The soft robot comprises a soft foot type robot capable of moving and walking, a soft crawling robot and a rigid-flexible coupling robot with a main driving part or a main structure made of soft materials. The simulation can provide an improvement and structure optimization scheme for the design, manufacture and experiment of the soft robot.
The existing simulation software is difficult to realize model simulation of the software robot, and the traditional finite element software such as ANSYS, ABAQUS and COMSOL can only realize quasi-static simulation and cannot realize dynamic motion simulation and motion control of the software robot.
Disclosure of Invention
The invention solves the problem of how to realize the dynamic simulation of the soft robot.
In order to solve the above problems, the present invention provides a soft robot dynamics simulation method, comprising: establishing a software robot finite element model in RecurDyn simulation software; importing a ground simulation model into the RecurDyn simulation software to establish a soft foot-ground contact mechanical model between the sole of the soft robot and the ground; and performing motion planning on the soft robot to realize the soft motion simulation of the soft robot on different ground surfaces based on the soft foot-ground contact mechanical model.
The soft robot dynamics simulation method realizes the motion simulation of the soft robot based on the foot-ground contact mechanics by the combined dynamics simulation of the RecurDyn multi-body dynamics simulation software and other software, can provide an improvement and structure optimization scheme for the design, manufacture and experiment of the soft robot through the simulation result, and effectively saves the experiment cost.
Optionally, the establishing a soft-body robot finite element model in the reccurdyn simulation software includes: establishing a three-dimensional model of the soft robot in the RecurDyn simulation software, and dividing a finite element grid in a Mesh module of the RecurDyn simulation software to establish the finite element model of the soft robot.
The soft robot dynamics simulation method provided by the invention establishes the soft robot finite element model by dividing the finite element grids in the Mesh module of the RecurDyn simulation software, thereby realizing the motion simulation of the soft robot based on the foot-to-ground contact mechanics.
Optionally, the establishing a three-dimensional model of a soft robot in the reccurdyn simulation software includes: and directly establishing a three-dimensional model of the soft robot in the RecurDyn simulation software, or after establishing the three-dimensional model of the soft robot in SolidWorks, CATIA or ProE, importing a corresponding three-dimensional model file into the RecurDyn simulation software.
The soft robot dynamics simulation method provided by the invention can establish a three-dimensional model of the soft robot in different modes, and further can establish a finite element model of the soft robot.
Optionally, after dividing the finite element Mesh in the Mesh module, the soft robot dynamics simulation method further includes: and setting Material Properties in a Properties/Material functional module of an FFlex module of the RecurDyn simulation software.
The dynamic simulation method of the soft robot can realize dynamic simulation of soft robots with different materials by setting the material attributes of the soft robot.
Optionally, after the finite element model of the soft robot is established, the soft robot dynamics simulation method further includes: selecting a point set by using a Marker function module, an Output function module and a SetNode function module to add data acquisition points; selecting a surface by using a Set Patch functional module to Set a stress surface; the Professional/Joint function is used to connect different software feet or connect the software robot and other parts.
The soft robot dynamics simulation method provided by the invention is beneficial to the smooth development of subsequent simulation tests through stress surface setting, point set setting and connection setting.
Optionally, the importing the ground simulation model into the reccurdyn simulation software to build a software foot-ground contact mechanics model comprises: establishing the ground simulation model and importing the ground simulation model into the RecurDyn simulation software; setting the contact between the ground and the sole of the soft robot, deducing a formula of normal force and tangential force of the soft foot-ground contact mechanical model according to ground information, calculating a foot-ground force value according to the formula and introducing the foot-ground force value into the RecurDyn simulation software; and selecting a corresponding Contact mode in a Contact function module of an FFlex module of the RecurDyn simulation software according to the difference of the two Contact surfaces and the difference of the materials of the Contact surfaces.
According to the soft robot dynamics simulation method, the ground simulation model is introduced to establish the soft foot-ground contact mechanical model, and the soft foot-ground contact mechanical model is added into the simulation environment, so that the subsequent simulation test can be smoothly carried out.
Optionally, the importing the ground simulation model into the reccurdyn simulation software to build a soft foot-ground contact mechanics model further comprises: and for the soft foot-ground contact mechanical models corresponding to different ground information, secondarily developing the RecurDyn simulation software by using Visual Studio to complete the establishment of the soft foot-ground contact mechanical models.
The software robot dynamics simulation method provided by the invention utilizes Visual Studio to carry out secondary development on the RecurDyn simulation software to complete the establishment of a software foot-ground contact mechanics model, thereby realizing the dynamics simulation of the software robot on the ground with different geology and topography.
Optionally, the motion planning for the soft robot comprises: and utilizing Matlab software to apply a control instruction to the soft robot to carry out gait control, enabling the soft robot to move in a multi-terrain environment, inputting state feedback to the Matlab software, and modifying the control instruction according to the state feedback.
The soft robot dynamics simulation method realizes the motion simulation of the soft robot based on the foot-ground contact mechanics through the combined dynamics simulation of the RecurDyn multi-body dynamics simulation software and the Matlab.
Optionally, the motion planning for the soft robot further comprises: the dynamic simulation of the soft robot in a fluid environment is realized through the combined simulation with particle works software, and the dynamic simulation of the soft robot in a particle medium is realized through the combined simulation with EDEM software.
The soft robot dynamics simulation method realizes the motion simulation of the soft robot based on the foot-ground contact mechanics through the combined dynamics simulation of the RecurDyn multi-body dynamics simulation software, the particle works software and the EDEM software.
Optionally, the applying a control instruction to the soft robot by using Matlab software to perform gait control includes: and setting the driving force functions of all parts of the soft robot by utilizing a controller module of Matlab software, and inputting a control command into the soft robot to complete the motion planning of the soft robot.
The software robot dynamics simulation method of the invention sets the driving force functions of each part of the software robot through the controller module of Matlab software, and inputs the control instruction into the software robot to complete the motion planning of the software robot, thereby realizing the combined dynamics simulation of the RecurDyn multi-body dynamics simulation software and the Matlab.
Drawings
FIG. 1 is a flowchart of a soft body robot dynamics simulation method according to an embodiment of the present invention;
FIG. 2 is a flowchart of the soft body robot dynamics modeling and simulation according to an embodiment of the present invention;
fig. 3 is a block diagram of a system for joint simulation of a software robot according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a soft robot dynamics simulation method, including: establishing a software robot finite element model in RecurDyn simulation software; importing a ground simulation model into the RecurDyn simulation software to establish a soft foot-ground contact mechanical model between the sole of the soft robot and the ground; and performing motion planning on the soft robot to realize the soft motion simulation of the soft robot on different ground surfaces based on the soft foot-ground contact mechanical model.
Specifically, in this embodiment, the soft robot dynamics simulation method includes:
(1) software robot finite element model based on reccurdyn (multi-body dynamics simulation software) simulation software: establishing a finite element model for the soft robot in the RecurDyn;
(2) the soft foot-ground Contact mechanical model based on the RecurDyn/Contact comprises the following steps: after a ground simulation model is led into RecurDyn simulation software, generating a dll file by utilizing C + + language or Fortran language programming in Visual Stuidio according to Contact mechanical models of different ground information, leading the dll file into a Contact module, and establishing a soft foot-ground Contact mechanical model between the sole of the soft robot and the ground;
(3) dynamic simulation of soft robot motion based on RecurDyn simulation software: and (3) performing motion planning on the soft robot, applying a control instruction to the soft robot by using Matlab to perform gait control so that the soft robot moves on a multi-terrain environment, and obtaining various data and feeding back the state of the data to the Matlab for analysis.
Referring to fig. 2, after the robot three-dimensional model is built, the flexible body finite element mesh division is required, and then material properties, stress surfaces and point sets are respectively set to generate a soft robot dynamics simulation model, contact and connection are set to the model, and then a driving force is set to further realize simulation analysis and corresponding data processing.
In this embodiment, the soft robot may be a soft legged robot or a soft crawling robot, such as a robot moving on the ground, and the dynamic simulation of a single soft drive, such as a soft mechanical arm, may also be implemented. Taking a soft-foot robot as an example, the moving foot of the soft-foot robot is referred to as the soft foot for short, the simulation method of the invention aims to realize the motion simulation of the soft-foot robot, so that the related models of the soft foot, such as a finite element model of the soft foot, can be adaptively established in the modeling process.
Therein, the finite element modeling can be performed using other finite element software, such as ANSYS.
Wherein, software such as Hypermesh, MSC, NASTRAN and the like can be used for grid division and then introduced into the RecurDyn software.
In the embodiment, the combined dynamics simulation of the recdyn multi-body dynamics simulation software and other software is used for realizing the motion simulation of the soft robot based on the foot-ground contact mechanics, and an improvement and structure optimization scheme can be provided for the design, manufacture and experiment of the soft robot through the simulation result, so that the experiment cost is effectively saved.
Optionally, the establishing a soft-body robot finite element model in the reccurdyn simulation software includes: establishing a three-dimensional model of the soft robot in the RecurDyn simulation software, and dividing a finite element grid in a Mesh module of the RecurDyn simulation software to establish the finite element model of the soft robot.
Specifically, in this embodiment, the creating the soft-body robot finite element model in the reccurdyn simulation software includes: establishing a three-dimensional model of the soft robot in the RecurDyn simulation software, establishing a finite element model of the soft robot in the Mesh module, and outputting a flexible body model of the soft robot.
The software robot is set in an FFlex module of RecurDyn simulation software, wherein the division of the finite element grids utilizes the function of Mesh or adv.
In this embodiment, a finite element Mesh is divided in a Mesh module of the reccurdyn simulation software to establish a soft body robot finite element model, so that the motion simulation of the soft body robot based on the foot-ground contact mechanics can be realized.
Optionally, the establishing a three-dimensional model of a soft robot in the reccurdyn simulation software includes: and directly establishing a three-dimensional model of the soft robot in the RecurDyn simulation software, or after establishing the three-dimensional model of the soft robot in SolidWorks, CATIA or ProE, importing a corresponding three-dimensional model file into the RecurDyn simulation software.
Specifically, in this embodiment, the building of the three-dimensional model of the soft robot in the RecurDyn simulation software includes: directly establishing a three-dimensional model of the software robot in RecurDyn simulation software;
or after a three-dimensional model of the software robot is established in SolidWorks, CATIA or ProE, the corresponding three-dimensional model file is imported into the RecurDyn simulation software.
In this embodiment, the three-dimensional model of the soft robot is established in different ways, so that the finite element model of the soft robot can be established.
Optionally, after dividing the finite element Mesh in the Mesh module, the soft robot dynamics simulation method further includes: and setting Material Properties in a Properties/Material functional module of an FFlex module of the RecurDyn simulation software.
Specifically, in this embodiment, the Material Properties of the soft robot are set in the Properties/Material function module in the FFlex module, different materials of the soft robot have different Material property models, different superelasticity models can be used to describe the Properties of the soft Material, such as the Arruda & Boyce model, the Neo-Hooke model, the Ogden model and the Mooney-rivin model, and the Material parameters with low young modulus can also be used for small deformation analysis. For superelastic materials, values for various material parameters can be calculated using material tensile experimental measurements.
The FFlex function under the flexile menu bar has two categories, one is common Contact, and the common Contact includes several categories such as surface-to-surface Contact, line-to-surface Contact, spherical Contact and the like; yet another is Geo contact, which is generally recommended.
In this embodiment, by setting the material properties of the soft robot, the dynamic simulation of soft robots of different materials can be realized.
Optionally, after the finite element model of the soft robot is established, the soft robot dynamics simulation method further includes: selecting a point set by using a Marker function module, an Output function module and a SetNode function module to add data acquisition points; selecting a surface by using a Set Patch functional module to Set a stress surface; the Professional/Joint function is used to connect different software feet or connect the software robot and other parts.
Specifically, in this embodiment, after the finite element model of the software robot is established, in order to obtain various data through subsequent simulation tests, data acquisition points need to be added, and a Marker function module, an Output function module and a SetNode function module are used to select a point set; in order to make the flexible body bear force or Set contact, a stress surface needs to be Set, and a Set Patch functional module is used for selecting the surface; in order to connect different soft feet or connect a soft robot and other parts, it is necessary to connect the soft feet by using a Professional/Joint function, and to connect the flexible bodies, it is necessary to perform a process of rigidizing the connection points in the flexible bodies by using an FDR function.
Wherein Output is a single function of selecting an Output point; and a Node and Patch selecting function is arranged under the Set function, the selected Node is used for data output, constraint application or load addition, and the Patch is used for setting contact or drive.
In this embodiment, the stress surface setting, the point set setting and the connection setting are favorable for the smooth development of the subsequent simulation test.
Optionally, the importing the ground simulation model into the reccurdyn simulation software to build a software foot-ground contact mechanics model comprises: establishing the ground simulation model and importing the ground simulation model into the RecurDyn simulation software; setting the contact between the ground and the sole of the soft robot, deducing a formula of normal force and tangential force of the soft foot-ground contact mechanical model according to ground information, calculating a foot-ground force value according to the formula and introducing the foot-ground force value into the RecurDyn simulation software; and selecting a corresponding Contact mode in a Contact function module of an FFlex module of the RecurDyn simulation software according to the difference of the two Contact surfaces and the difference of the materials of the Contact surfaces.
Specifically, in this embodiment, the establishing of the soft foot-ground contact mechanical model includes: establishing a ground simulation model, leading the ground simulation model into RecurDyn, setting the contact between the ground and the sole, deducing a formula of normal force and tangential force of a foot-ground contact mechanical model according to ground information, calculating a foot-ground force value according to the formula, programming the foot-ground force value, and leading the foot-ground force value into the RecurDyn to set the soft foot-ground contact. Aiming at the setting of Contact, the method is carried out in a Contact functional module of FFlex, and a corresponding Contact mode is selected according to the difference of two Contact surfaces and the difference of the materials of the Contact surfaces, wherein the Contact surfaces comprise spherical surfaces, cylindrical surfaces and the like, and the Contact materials comprise flexible bodies, rigid bodies and the like.
In this embodiment, the ground simulation model is introduced to establish the soft foot-ground contact mechanical model, and the soft foot-ground contact mechanical model is added to the simulation environment, thereby facilitating the smooth development of the subsequent simulation test.
Optionally, the importing the ground simulation model into the reccurdyn simulation software to build a soft foot-ground contact mechanics model further comprises: and for the soft foot-ground contact mechanical models corresponding to different ground information, secondarily developing the RecurDyn simulation software by using Visual Studio to complete the establishment of the soft foot-ground contact mechanical models. Tools or frameworks such as language-integrated queries (LINQ) in Visual Studio are utilized with which solutions can be more easily constructed to analyze and process information.
Specifically, in this embodiment, different ground information corresponds to different foot-ground contact mechanical models, Visual Studio is used to perform secondary development on reccurdyn, the establishment of the foot-ground contact mechanical model is completed through programming, dll files are generated and then imported into the reccurdyn, and the contact mechanical model and various parameters thereof are set.
In this embodiment, Visual Studio is used to develop the reccurdyn simulation software for the second time to complete the establishment of the soft foot-ground contact mechanical model, so as to realize the dynamic simulation of the soft robot on the ground with different geology and topography.
Optionally, the motion planning for the soft robot comprises: and utilizing Matlab software to apply a control instruction to the soft robot to carry out gait control, enabling the soft robot to move in a multi-terrain environment, inputting state feedback to the Matlab software, and modifying the control instruction according to the state feedback.
Specifically, in this embodiment, the motion planning of the soft robot includes: determining the driving mode of the soft robot, selecting proper driving force, carrying out gait planning on the soft robot, and realizing the motion control of the soft robot by utilizing the motion control algorithm of Matlab.
For state feedback. After the driving mode and the driving force of the soft robot/soft foot system are determined, the driving force functions of the multi-legged robot under the condition of different states are complex, the controller module in the Matlab/Simulink module is utilized to set the driving force functions of each part of the soft robot/soft foot system, the motion planning of the soft robot/soft foot system can be completed by inputting control instructions to the driving force functions, and the system inputs state feedback to the Matlab/Simulink module after the motion planning, so that the instructions can be modified, and the effect of state feedback is achieved.
Referring to fig. 3, a soft robot simulation model (which may be generated by modeling software such as CATIA) and a road/terrain simulation model (which may also be irregular terrain) are both input into the reccurdyn dynamics simulation environment; inputting an acting force to the RecurDyn dynamics simulation environment by the foot action model secondary development, and receiving state feedback of the RecurDyn dynamics simulation environment; and the Matlab motion control algorithm inputs a control command to the RecurDyn dynamics simulation environment and receives state feedback of the RecurDyn dynamics simulation environment.
For gait control. Taking a soft hexapod robot as an example, the selectable gait has multiple schemes of two gaits, three gaits, six gaits and the like.
The driving modes of the soft robot/soft foot are more in variety, such as line driving, air Pressure driving, intelligent material driving and the like, corresponding driving forces are set according to different driving modes, and the LoadEx or Pressure in the FFlex module can be set with the corresponding driving forces. In order to realize the motion of the soft robot, the motion of the soft robot needs to be planned, and each soft foot driving sequence is designed according to different motion plans.
And the Matlab can be replaced by Simulink to realize the joint simulation of the Matlab/Simulink and the RecurDyn dynamics simulation platform, and the Matlab/Simulink is used for planning and controlling the gait of the soft robot so as to realize the integral joint simulation calculation of the two platforms and perform the dynamics joint simulation analysis on the model.
In this embodiment, the combined dynamics simulation of the recdyn multi-body dynamics simulation software and Matlab is used to realize the motion simulation of the soft robot based on the foot-ground contact mechanics.
Optionally, the motion planning for the soft robot further comprises: the dynamic simulation of the soft robot in a fluid environment is realized through the combined simulation with particle works software, and the dynamic simulation of the soft robot in a particle medium is realized through the combined simulation with EDEM software.
In particular, in the embodiment, the dynamic simulation of the soft body robot in the fluid environment is realized through the combined simulation with the particle works software, and the motion of the soft body robot in the particle medium can be realized through the combined simulation with the EDEM software, for example, the simulation of the walking of the soft body robot in the soil or the sand, even the simulation of the underground motion passing through the sand or the soil is realized.
In the embodiment, the motion simulation of the soft robot based on the foot-ground contact mechanics is realized through the combined dynamics simulation of the recdyn multi-body dynamics simulation software, the particle works software and the EDEM software.
Optionally, the applying a control instruction to the soft robot by using Matlab software to perform gait control includes: and setting the driving force functions of all parts of the soft robot by utilizing a controller module of Matlab software, and inputting a control command into the soft robot to complete the motion planning of the soft robot.
Specifically, in this embodiment, the applying of the control command to the soft robot by using Matlab software to perform gait control includes: the controller module of Matlab software is used for setting the driving force functions of all parts of the soft robot, and control instructions are input into the soft robot to complete the motion planning of the soft robot. After the driving mode and the driving force of the soft robot/soft foot system are determined, the driving force functions of the multi-legged robot under the asynchronous state are complex, and the driving force functions of all parts of the soft robot/soft foot system can be set by utilizing a controller module in a Matlab/Simulink module, and the motion planning of the soft robot/soft foot system can be completed by inputting control instructions to the driving force functions.
In this embodiment, the driving force functions of each part of the soft robot are set by the controller module of Matlab software, and a control command is input into the soft robot to complete the motion planning of the soft robot, thereby implementing the combined dynamics simulation of the recdyn multi-body dynamics simulation software and Matlab.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A soft body robot dynamics simulation method is characterized by comprising the following steps:
establishing a software robot finite element model in RecurDyn simulation software;
importing a ground simulation model into the RecurDyn simulation software to establish a soft foot-ground contact mechanical model between the sole of the soft robot and the ground;
and performing motion planning on the soft robot to realize the soft motion simulation of the soft robot on different ground surfaces based on the soft foot-ground contact mechanical model.
2. The soft robot dynamics simulation method of claim 1, wherein the establishing a soft robot finite element model in the reccurdyn simulation software comprises:
establishing a three-dimensional model of the soft robot in the RecurDyn simulation software, and dividing a finite element grid in a Mesh module of the RecurDyn simulation software to establish the finite element model of the soft robot.
3. The soft robot dynamics simulation method of claim 2, wherein the building of the three-dimensional model of the soft robot in the RecurDyn simulation software comprises:
and directly establishing a three-dimensional model of the soft robot in the RecurDyn simulation software, or after establishing the three-dimensional model of the soft robot in SolidWorks, CATIA or ProE, importing a corresponding three-dimensional model file into the RecurDyn simulation software.
4. The soft robotic dynamics simulation method of claim 2, wherein after partitioning the finite element Mesh in the Mesh module, the soft robotic dynamics simulation method further comprises:
and setting Material Properties in a Properties/Material functional module of an FFlex module of the RecurDyn simulation software.
5. The soft robot dynamics simulation method of claim 2, wherein after establishing the soft robot finite element model, the soft robot dynamics simulation method further comprises:
selecting a point set by using a Marker function module, an Output function module and a SetNode function module to add data acquisition points;
selecting a surface by using a Set Patch functional module to Set a stress surface;
the Professional/Joint function is used to connect different software feet or connect the software robot and other parts.
6. The soft robotic dynamics simulation method of claim 1, wherein importing a ground simulation model into the reccurdyn simulation software to build a soft foot-ground contact mechanics model comprises:
establishing the ground simulation model and importing the ground simulation model into the RecurDyn simulation software;
setting the contact between the ground and the sole of the soft robot, deducing a formula of normal force and tangential force of the soft foot-ground contact mechanical model according to ground information, calculating a foot-ground force value according to the formula and introducing the foot-ground force value into the RecurDyn simulation software;
and selecting a corresponding Contact mode in a Contact function module of an FFlex module of the RecurDyn simulation software according to the difference of the two Contact surfaces and the difference of the materials of the Contact surfaces.
7. The soft robotic dynamics simulation method of claim 6, wherein importing a ground simulation model into the reccurdyn simulation software to create a soft foot-ground contact mechanics model further comprises:
and for the soft foot-ground contact mechanical models corresponding to different ground information, secondarily developing the RecurDyn simulation software by using Visual Studio to complete the establishment of the soft foot-ground contact mechanical models.
8. The soft robot dynamics simulation method of claim 1, wherein the motion planning of the soft robot comprises:
and utilizing Matlab software to apply a control instruction to the soft robot to carry out gait control, enabling the soft robot to move in a multi-terrain environment, inputting state feedback to the Matlab software, and modifying the control instruction according to the state feedback.
9. The soft robot dynamics simulation method of claim 8, wherein the motion planning of the soft robot further comprises:
the dynamic simulation of the soft robot in a fluid environment is realized through the combined simulation with particle works software, and the dynamic simulation of the soft robot in a particle medium is realized through the combined simulation with EDEM software.
10. The soft robot dynamics simulation method according to claim 8, wherein the applying a control command to the soft robot using Matlab software for gait control comprises:
and setting the driving force functions of all parts of the soft robot by utilizing a controller module of Matlab software, and inputting a control command into the soft robot to complete the motion planning of the soft robot.
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