一种气动软体机器人动作控制方法的可行性探究

Research on the Feasibility of an Action Control Method for Pneumatic Software Robot

随着材料科学和机器人技术的发展,软体机器人已经成为了一个热门的研究领域。与刚性机器人不同,软体机器人具有多种自由度,因此它们可以通过一系列的连续变形扩展或缩小成任何配置。对一种气动软体机器人的动作控制方法的可行性进行了探究,该方法可通过在上位机软件上设置气压参数和发送控制指令,通过串口通讯发送的数据和指令输出PWM来控制电气比例阀的通断和输出气压,进而实现对气动软体机器人的步态和速度的控制。

With the development of materials science and robotics, software robots has become a hot research field. Unlike rigid robots, soft robots have multiple degrees of freedom, so they can be expanded or reduced to any configuration through a series of continuous deformations. The feasibility of an action control method for a pneumatic software robot is discussed. The method can set air pressure parameters and send control instructions on the upper computer software and control the switch and output pressure of electrical proportional value through the data and instruction output PWM sent by serial communication, and then realize the gait control and speed control of the pneumatic software robot.