气动蜂巢软体腿的设计与迟滞特性分析

Design and Hysteresis Analysis of Pneumatic Honeycomb Legs

目前的仿生机器人多以刚性材料为主,灵活度不高且与人交互不安全。针对这一问题,设计了一款气动软体机器人,采用蜂巢六边形腔室制作了软体机器人的腿部结构和相应气动网格驱动器,通过对其充气能够实现软体腿的伸长、弯曲等运动。对气动蜂巢软体腿的迟滞特性进行分析,首先建立了Prandtl-Ishlinskii(PI)模型,但由于其对称性造成了建模的不准确性;通过改进PI模型的包络函数,得到了可用于描述非对称性迟滞现象的MPI模型,并采用MPI模型对气动蜂巢软体腿的迟滞现象进行前馈补偿,经过补偿后,跟踪误差减小,有效的消除了大部分迟滞效应。

Current research about bionic robot is mainly based on rigid materials,which are not flexible and unsafe to interact with humans.Considering this problem,a pneumatic soft robot is designed.The leg structure and gas grid driver of the soft robot are fabricated by using honeycomb hexagon chamber,and the movement of the soft leg can be realized by inflating it.The hystersis characteristics of the pneumatcic honeycomb leg are analyzed.Firstly,the Prandtl-Ishlinskii model is established to analyze the hysteresic characteristics of the pneumatic honeycomb leg,but the modeling is inaccrate because its symmetry.By improving the envelop function of PI model,an MPI model which can be used to describe the asymmetric hystersis phenomenon is obtained.Based on the MPI model,the hystersis phenomenon of the pneumatic honeycomb leg is compensated.After compensation,the tracking error is reduced and most hysteresis effects are effectively eliminated.