CN103744426B - A kind of quadruped robot Bionic flexible body bends control system - Google Patents

Abstract

The invention relates to a bending control system of a bionic flexible body of a quadruped robot, which comprises a bionic flexible body mechanism, a pneumatic circuit, a flexible body bending control circuit and a DC voltage source. The bionic body of the invention is driven by pneumatic artificial muscles, has certain flexibility and can be bent, and the control system has the advantages of simple control and fast response.

Description

Bending control system of a quadruped robot bionic flexible body

technical field

The invention relates to a bending control system of a bionic flexible body of a quadruped robot, which is used for realizing the steering gait of a quadruped robot in coordination with a leg mechanism, and belongs to the technical field of robots.

Background technique

The traditional quadruped robot body is a rigid overall structure. Although the steering movement can be realized through the multi-degree-of-freedom of the leg mechanism and complex motion planning, the steering radius is large and the steering speed is slow, which cannot meet the mobility requirements in an unstructured environment. The flexible design of the quadruped robot body is an inevitable requirement to improve the mobility and stability of the quadruped robot in an unstructured environment.

At present, the research on the bionic flexible body of the quadruped robot is still in the initial stage at home and abroad, and an effective bending control scheme for the flexible body has not been proposed. The invention provides a solution for the bionic flexible body control.

Contents of the invention

In view of the defects existing in the prior art, the purpose of the present invention is to propose a bending control system of a bionic flexible body of a quadruped robot, which fills the gap in domestic control of the bending of a bionic flexible body. Through the effective cooperation of air circuit and electronic control, the bionic flexible body can be flexibly bent according to the steering gait planning.

To achieve the above object, the present invention adopts the following technical solutions:

A bionic flexible body bending control system for a quadruped robot, comprising a bionic flexible body mechanism, a pneumatic circuit, a flexible body bending control circuit and a DC voltage source; the bionic flexible body mechanism includes a front body, a spring, a rear body, a bionic spine, Pneumatic artificial muscles and bearings; the pneumatic artificial muscles are connected with the front body and the rear body through bearings; the bionic spine is fixed at the center of the front body and the rear body; the two ends of the spring are fixed on the front body and the rear body, and the spring It is symmetrical with the pneumatic artificial muscle about the bionic spine axis; the pneumatic circuit includes an air compressor, a pressure reducing valve, a two-position three-way proportional valve, and a pressure sensor; the air compressor is connected to the pressure relief valve and the two-position three-way proportional valve in turn through pipelines and a pressure sensor, and connect the pneumatic artificial muscle; the flexible bending control loop includes a PC, a data acquisition card, a distance sensor, a laser transmitter, and a laser receiver; the PC is connected to a data acquisition card, and the data acquisition card The two-position three-way proportional valve, the pressure sensor, the distance sensor and the laser receiving end are connected in sequence; the DC voltage source is connected to the proportional valve, the pressure sensor, the laser emitting end, and the laser receiving end.

Compared with the prior art, the present invention has the following obvious substantive features:

The invention changes the design concept of the rigid body of the traditional quadruped robot, adopts a bionic flexible body mechanism, and the spine is composed of multiple sections, which is more bionic. The invention adopts pneumatic artificial muscle as the driver of the flexible body, generates less heat, noise and other harmful substances during operation, and is suitable for harsh working environments. The invention proposes a control scheme for controlling the length change of the pneumatic artificial muscle to realize the bending of the bionic flexible body. The fuzzy control algorithm is adopted to realize good control of the pneumatic artificial muscle without calculating the transfer function of the pneumatic artificial muscle.

Description of drawings

Fig. 1 is a schematic diagram of a bending control system of a bionic flexible body of a quadruped robot according to the present invention.

Fig. 2 is a schematic diagram of the bending state of a bionic flexible body of a quadruped robot according to the present invention after the bending of the body is controlled.

Fig. 3 is a schematic diagram of a bending control system of a bionic flexible body of a quadruped robot according to the present invention.

detailed description

Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:

Referring to Fig. 1 and Fig. 2, a bionic flexible body bending control system of a quadruped robot includes a bionic flexible body mechanism I, a pneumatic circuit II, a flexible body bending control circuit III and a DC voltage source 7; the bionic flexible body mechanism I It includes a front body 8, a spring 9, a rear body 10, a bionic spine 11, a pneumatic artificial muscle 15 and a bearing 16; the pneumatic artificial muscle 15 is connected to the front body 8 and the rear body 10 through the bearing 16; the bionic spine 11 is fixed on The center position of the front body 8 and the rear body 10; the two ends of the spring 9 are fixed on the front body 8 and the rear body 10, and the spring 9 and the pneumatic artificial muscle 15 are symmetrical about the bionic spine 11; the pneumatic circuit II includes an air compressor 3. Pressure reducing valve 4, two-position three-way proportional valve 5, pressure sensor 6; air compressor 3 is connected to pressure relief valve 4, two-position three-way proportional valve 5 and pressure sensor 6 in turn through pipelines, and connected to pneumatic artificial muscle 15 ; The flexible bending control loop III includes a PC 1, a data acquisition card 2, a distance sensor 13, a laser emitting end 12, and a laser receiving end 14; the PC 1 is connected to the data acquisition card 2, and the data acquisition card 2 The two-position three-way proportional valve 5, pressure sensor 6, distance sensor 13 and laser receiving end 14 are connected in sequence; the DC voltage source 7 is connected to the proportional valve 5, pressure sensor 6, laser emitting end 12, and laser receiving end 14.

As shown in Figure 3, the operating principle of the present invention is as follows,

The distance sensor 13 measures the real-time length of the pneumatic artificial muscle 15 in real time, and the data acquisition card 2 collects the length signal of the pneumatic artificial muscle 15 measured by the distance sensor 13 in real time, calculates the length of the pneumatic artificial muscle 15 in the PC 1 and collects it in real time with the data acquisition card 2 The length difference of the pneumatic artificial muscle 15; the fuzzy controller is established in the PC 1, the error signal of the length and the difference of the error signal are input into the fuzzy controller, and the output voltage signal obtained is sent to the proportional valve 5 through the data acquisition card 2 It is used to adjust the valve opening size of the proportional valve 5, as shown in Figure 3.

The laser emitting end 12 and the laser receiving end 14 are used to limit the maximum bending angle of the bionic flexible body mechanism 1, preventing excessive bending from causing irreversible deformation to the spring 9; its working principle is: when the bionic flexible body mechanism 1 reaches the maximum bending angle, The laser transmitter 12 communicates with the laser receiver 14, and sends a high-level signal to the data acquisition card 2. When the data acquisition card 2 receives this signal, it closes the valve port of the proportional valve 5, and stops feeding gas into the pneumatic artificial muscle 15. Biomimetic and flexible Body mechanism 1 will stop bending.

Claims (1)

1. A bionic flexible body bending control system for a quadruped robot, characterized in that it includes a bionic flexible body mechanism (I), a pneumatic circuit (II), a flexible body bending control circuit (III) and a DC voltage source (7); The bionic flexible body mechanism (I) includes a front body (8), a spring (9), a rear body (10), a bionic spine (11), a pneumatic artificial muscle (15) and a bearing (16); the pneumatic artificial muscle (15) is connected with the front body (8) and the rear body (10) through bearings (16); the bionic spine (11) is fixed at the center of the front body (8) and the rear body (10); the spring (9 ) both ends are fixed on the front body (8) and the rear body (10), the spring (9) and the pneumatic artificial muscle (15) are symmetrical about the axis of the bionic spine (11); the pneumatic circuit (II) includes an air compressor ( 3), pressure reducing valve (4), two-position three-way proportional valve (5), pressure sensor (6); air compressor (3) is connected to pressure-reducing valve (4), two-position three-way proportional valve ( 5) and a pressure sensor (6), and connected to the pneumatic artificial muscle (15); the flexible body bending control circuit (III) includes a PC (1), a data acquisition card (2), a distance sensor (13), a laser The transmitting end (12), the laser receiving end (14); the PC (1) is connected to the data acquisition card (2), and the data acquisition card (2) is sequentially connected to the two-position three-way proportional valve (5) and the pressure sensor (6), a distance sensor (13) and a laser receiving end (14); the DC voltage source (7) is connected to a proportional valve (5), a pressure sensor (6), a laser emitting end (12), a laser receiving end (14 ).