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仿生柔性外肢体机器人的优化设计与实现

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纤维增强型驱动器(FRA)受到了章鱼触手多肌纤维生物学特性的启发,有望用于外肢体机器人(SRL)完成多样化的运动.本文首先介绍了 FRA实现伸长、膨胀、弯曲、扭转变形的驱动原理,阐述了 FRA的制备流程,并在此基础上提出了采用FRA的柔性外肢体机器人的设计与实现方法.通过建立FRA的分析模型,揭示了驱动器在不同变形模态下其构形参数与输入气压对变形量的影响规律,并通过有限元仿真加以验证.此外,还提出了柔性外肢体机器人轨迹优化算法,通过构建多目标优化函数并基于置信域方法优化各FRA的设计参数,协助穿戴者完成规定任务.通过样机试验测试了本文的外肢体机器人的系统性能,该外肢体机器人可以有效提升穿戴舒适性,实现3维空间中的灵活运动.研究结果表明,采用FRA的柔性外肢体机器人在穿戴舒适性、动作多样性、控制精准性等方面优于现有的柔性外肢体机器人.
Optimal Design and Implementation of a Bioinspired Soft Supernumerary Robotic Limb
Inspired by the biological characteristics of the octopus tentacles with multiple muscle fibers,fiber-reinforced actuators(FRAs)are expected to be incorporated into supernumerary robotic limbs(SRLs)to achieve a wide range of mo-tions.This paper firstly introduces the actuation mechanism of FRAs,which exhibit multiple deformation modes including extending,expanding,bending,and twisting motions.The fabrication process of the FRAs is then explained,and the design and implementation of the SRL driven by FRAs are proposed.Furthermore,analytic models of FRAs are established to elucidate the influence of the configuration parameters and the input air pressures on the deformation amplitude in different deformation modes.Subsequently,the analytic models are validated by finite element simulation.In addition,a trajectory optimization algorithm is developed for SRL,in which a multi-objective optimization function is formulated and the trust region method is employed to optimize the design parameters of each FRA.This algorithm effectively assists the wearer in accomplishing predetermined tasks.Finally,prototype experiments are conducted to validate the system performance of the proposed SRL.This SRL can effectively improve wearing comfort,and can realize flexible motion in three-dimensional space.The research results demonstrate that the SRL driven by FRAs is superior to the state-of-the-art soft SRLs in terms of providing a comfortable wearing experience,enabling various motions,and ensuring precise control.

supernumerary robotic limbsoft roboticsfiber-reinforced actuatorfinite element modelingtrajectory opti-mization

徐嘉骏、张添一、黄恺真、曹凯、吉爱红、徐林森

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南京航空航天大学机电学院,江苏南京 210016

河海大学机电工程学院,江苏常州 213022

外肢体机器人 软体机器人 纤维增强型驱动器 有限元建模 轨迹优化

国家自然科学基金江苏省科技计划机器人技术与系统全国重点实验室开放基金机器人学国家重点实验室项目江苏省"双创计划"中央高校基本科研业务费专项

52205018BK20220894SKLRS-2023-KF-252023-016JSSCBS20220232NS2022048

2024

10.13973/j.cnki.robot.230199

机器人
中国自动化学会　中国科学院沈阳自动化研究所

机器人

CSTPCD北大核心
影响因子：1.134
ISSN：1002-0446
年,卷(期)：2024.46(2)