Design and Hysteresis Analysis of Pneumatic Honeycomb Legs
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.
honeycomb structurePI modelMPI modelfeedforward compension of hystersis
万方数据
维普
