【摘要】：與傳統(tǒng)的"剛性"機器人相比,基于仿生學啟發(fā)的軟體機器人由于其與生俱來的柔順性和安全性受到廣泛關(guān)注。然而,此類軟體機器人驅(qū)動器的設(shè)計與控制目前仍缺少理論指導(dǎo)。針對這些問題,設(shè)計了一種由氣壓驅(qū)動的可實現(xiàn)彎曲運動的新型軟體驅(qū)動器,在系統(tǒng)分析其結(jié)構(gòu)和彎曲原理的基礎(chǔ)上,利用幾何方法和虛功原理建立了其數(shù)學模型,并且通過有限元模型和原理樣機實驗驗證了數(shù)學模型的有效性,為軟體機器人驅(qū)動器的優(yōu)化設(shè)計和控制提供了依據(jù)。
[Abstract]:Compared with the traditional "rigid" robot, the software robot based on bionics has attracted much attention because of its inherent flexibility and safety. However, the design and control of this kind of software robot driver is still lack of theoretical guidance. In order to solve these problems, a new software driver driven by air pressure is designed to realize bending motion. Based on the systematic analysis of its structure and bending principle, the mathematical model is established by means of geometric method and virtual work principle. The validity of the mathematical model is verified by the finite element model and the prototype experiment, which provides the basis for the optimal design and control of the software robot driver.
【作者單位】： 天津大學機構(gòu)理論與裝備設(shè)計教育部重點實驗室;北京航空航天大學自動化科學與電氣工程學院;倫敦大學國王學院機器人研究中心;
【基金】：國家自然科學基金(51375329) 天津市應(yīng)用基礎(chǔ)與前沿技術(shù)研究計劃(14JCYBJC19300) 高等學校博士學科點專項科研基金(20130032120036)~~
【分類號】：TP242

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1 田野;陳丁;;面向?qū)嶒炇业墓杵瑐鬏敊C械手的研制[J];科技創(chuàng)業(yè)家;2014年06期

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