Abstract:In order to improve the driving performance of existing robot,an artificial-muscle-based method is proposed to design novel driving joints.Firstly,the Cartesian coordinate system of the joint mechanism is defined,and a mathematical model is constructed to express the relationships among the structure parameters,workspace,structure intensity,and dynamical features of the driving joints.Based on these analyses,a multi-objective programming algorithm is then utilized to optimize the design of the driving joints,and such relevant factors as the design variables,objective function,constraint conditions and solution method are presented in detail.Finally,the proposed method is applied to the sciatic joint design of a quadruped robot,and the simulation results prove the advantages of the artificial-muscle-based driving joint in terms of strength,dexterity, and carrying capacity.
[1] 魏航信,刘明治.仿人型跑步机器人矢状面起跳运动的实现[J].机械设计与研究,2006,22(3):36-39.
[2] 朱兴龙,周骥平,颜景平.一种新型的三自由度垂直相交运动解耦液压伺服关节的设计[J].中国机械工程,2002,13(21):1824-1827.
[3] 王宏,徐殿国,史敬灼.机器人一体化关节驱动系统[J].高技术通讯,2004,14(6):47-50.
[4] 张铁,李杞仪,姚国兴,等.形状记忆合金机器人关节驱动器的控制系统[J].华南理工大学学报(自然科学版),1996,24(6):102-106.
[5] Shammas E,Wolf A,Choset H.Three degrees-of-freedom joint for spatial hyper-redundant robots[J].Mechanism and Machine Theory,2006,41(2):170-190.
[6] Safak K K,Adams G G.Modeling and simulation of an artificial muscle and its application to biomimetic robot posture control[J].Robotics and Autonomous Systems,2002,41(4):225-243.
[7] 赵建文,杜志江,孙立宁.虎克铰干涉判定准则及其优化设计方法的研究[J].机械设计,2004,21(11):45-48.
[8] 孙立宁,于凌涛,杜志江,等.并联机器人胡克铰工作空间的研究与应用[J].机械工程学报,2006,42(8):120-124.
[9] 朱兴龙,周骥平.运动解耦机理分析与解耦关节设计[J].中国机械工程,2005,16(8):674-677.
[10] Mosley M J,Mavroidis C.Experimental nonlinear dynamics of a shape memory alloy wire bundle actuator[J].Journal of Dynamic Systems,Measurement,and Control(Transactions of the ASME),2001,123(1):103-112.