含柔性腹节的仿蚕机器人转弯运动建模与实验

Modeling and Experiment of Silkworm-Robot with Flexible Abdomen

为了增强仿蚕机器人的环境适应能力,针对蚕的生物形态和转弯运动机制,设计了一种柔性腹节驱动器,将其转弯关节柔性化。完成仿蚕机器人转弯关节的机械结构设计与建模计算,建立转弯运动控制函数模型,通过ADAMS对转弯运动控制函数的可行性进行验证。基于ADAMS和MATLAB/Simulink对转弯关节进行了联合仿真,采用数字式PID控制算法,提高了转弯关节摆角控制的准确性。对机器人样机进行转弯运动试验,试验结果证实了柔性腹节驱动器的设计对于实现转弯关节柔性化的可行性。

In order to enhance the environmental adaptability of silkworm imitation robot,according to the biological form and turning motion mechanism of silkworm,a flexible abdomen joint driver was designed to make its turning joints flexible.The mechanical structure design and modeling calculation of silkworm-like robot turning joint were completed,the model of the turning motion control function was established,the feasibility of the turning motion control function was verified by ADAMS.Based on ADAMS and MATLAB/Simulink,joint simulation of turning joints was conducted,and digital PID control algorithm was adopted to improve the accuracy of swinging angle control of turning joints.The experimental results show that the design of the flexible ventral actuators is feasible to realize the flexibility of the turning joints.