具有多运动模式的可变形软体机器人研究
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摘要
具有无限自由度和连续变形能力,可在大范围内任意改变自身形状和尺寸的软体动物在自然界中具有极强的适应能力。发展具备类似能力的仿生软体机器人,一直是各国研究人员的目标。作为对仿生机器人研究的延续,仿生软体机器人通过主动变形和被动变形的结合使其具有出色的运动灵活性和对复杂环境的相容性,在军事、科研、医疗等领域具有广泛的应用前景。
针对当前仿生软体机器人存在运动模式单一,运动效率和环境适应能力不能有效兼顾的问题,本论文以能实现三种运动模式的仿生软体机器人为研究对象,围绕着仿生软体机器人三种运动模式的实现机制,开展了仿生软体机器人多运动模式实现原理研究,仿生软体机器人整体结构设计研究,仿生软体机器人运动特性研究以及内嵌SMA丝的平板弯曲驱动器动态特性研究等工作。论文的主要研究内容和成果如下：
(1)通过分析自然界中各种软体动物的运动特点,在已有研究工作的基础上,结合形状记忆合金的特性,设计了一种将滚动运动、蠕动运动和Ω型运动方式集合在一起的可变形仿生软体机器人。在平坦路面上,通过自身的柔性变形推动仿生软体机器人向前滚动运动,以提高其运动速度和运动效率；在通过狭小空间时,身体展开采用蠕动运动以提高通过性；而遇到沟壑或者障碍时,身体变形采用Ω型前进提高其越障能力。通过对仿生软体机器人的三种运动模式进行详细的研究,获得了软体机器人实现三种运动模式的运动机理,然后在此基础上完成了软体机器人的总体方案设计。软体机器人采用模块化的设计思想,由运动单元和分离单元组成。每个运动单元包括了偏转单元和蠕动单元,设计了软体机器人的偏转单元和蠕动运动单元以及头尾连接结构。
(2)利用多刚体运动学仿真软件ADAMS对仿生软体机器人两种典型的运动模式,滚动运动和蠕动运动,进行运动学的仿真分析。基于伪刚体模型建立了仿生软体机器人在ADAMS中的滚动仿真模型,通过调整弹簧力的施加时序,使得机器人的滚动达到最优,获得了仿生软体机器人在X轴方向(滚动方向)和Y轴方向(垂直于滚动运动方向)的运动位移和速度曲线图,给出了仿生软体机器人滚动运动的控制策略。建立了软体机器人在ADAMS中的蠕动运动仿真模型,采用微型锯齿结构来模拟仿生刚毛结构和粗糙的地面,获得了软体机器人在X轴方向(蠕动运动方向)上的运动位移和速度曲线图,并分析了运动特性。利用实验室现有的材料和设备,加工一个仿生软体机器人的原理样机,采用AB胶来粘结软体机器人的各个运动单元,简化了软体机器人的结构,设计了可同时控制24路SMA偏转驱动器的仿生软体机器人运动控制系统。验证了采用粘结的方式连接仿生软体机器人头尾可以从环形运动状态转换到直线运动状态,以及通过实验的方法对软体机器人的滚动运动特性进行了研究(机器人可以在6s的内可以滚动160mm)
(3)基于三维空间力系平衡关系,分别建立了SMA线性致动器的力学平衡方程和弹性基板的力平衡方程和力矩平衡方程,综合SMA线性致动器的平衡方程和弹性基板的平衡方程即可获得平板弯曲驱动器的动力学平衡方程,并引入SMA本构方程和SMA热力学平衡方程,在已知平板驱动器各个参数的情况下,使得平板弯曲驱动器的偏转过程可以被有效的预测出来。
(4)对SMA准静态热/力耦合特性、动态热/力耦合特性及本构模型进行了详细的实验研究,并重点研究了SMA丝在不同应力条件下相变温度随应变的变化而改变的特性以及不同应变速率情况下的应力一应变特性。基于SMA具有输出力大、变形大、较高功重比、低电压驱动和寿命长的特性,设计了性能稳定且可靠的内嵌SMA丝的平板弯曲驱动器,并通过仿真和实验对其偏转特性进行详细的研究。通过仿真和实验结果的对比,验证了平板驱动器力学模型的正确性,同时发现平板弯曲驱动器的偏转角度和输出弯矩有着近似的线性关系,并且采用脉冲电流对SMA丝加热的方式可以有效的提高驱动器的输出效率。
With infinite degrees of freedom and continuous deformation capacity, the mollusks can arbitrarily change their shapes and sizes so that they have a strong ability to adapt to the natural environment. Developed the bionic robot with similar biological ability is the target for the researchers from all over the world. As a continuation of the bio-robot research, the bionic soft robots have an excellent flexibility and compatibility to the complex environment, through the combination of active deformation and passive deformation. This type of robots has broad application prospects in the military, scientific research, medical and other fields.
The bionic soft robot has the problem that the movement pattern is very single, the movement efficiency and the environmental adaptability can not effectively take into account. In order to solve this problem, this thesis takes the soft robot which has three locomotion modes as the research object. Surrounding the implementation mechanisms for accomplishing the multi-locomotion modes, this dissertation carried out the reasearch of multi-locomotion modes bionic implementation principle, the study of how to implementate the bionic soft robot overall structure, the reasearch of the dynamic characteristics of the plannar bending actuator embedded SMA wire and the study of the motion characteristics of the bionic soft robot, etc. The main research contents and contributions of this paper are listed as follows:
(1) By analysis of the movement characteristics of the nature mollusks, a bionic soft robot which has rolling motion, peristaltic movements and omega-type motion is designed based on the existing research work and combination of the characteristics of the shape memory alloy. On a flat road, the bionic soft robot uses the rolling movement to improve the movement speed and movement efficiency through the flexible deformation; the body is expanded to use the peristaltic movement to improve the ablitiy of through the narrow space; when the soft robot encountered the obstacles, the body deformation using the Omega-type forward way to improve the ability of through the obstacles. By the detailed study of the three kinds of movement modes, the motion mechanism which achieves three loconmotion modes is obtained and then completed the design of the overall structures of the soft robots according to the front analysis. The soft robot is designed based on the modular concept and it consists of movement unit and separation unit. Each movement unit is comprised by a deflection unit and a peristaltic unit, the design of the deflection unit、the peristaltic movement unit and the head and tail connection structure is detailed designed.
(2) The kinematics simulation of the two typical movement patterns of the soft robot, the rolling locomotion and peristaltic movement, are analysed using powerful many-body dynamics emulation software ADAMS. Based on the pseudo-rigid model, the simulation model of the rolling motion of the soft robot in ADAMS is bulilt, by adjusting the control sequence of the spring force to achieve the optimal the rolling speed and obtained the displacement and velocity curve of the rolling movement of the soft robot in X axis and Y axis direction, the control strategy of the rolling motion is given. The simulation model of the peristaltic movement of the soft robot in ADAMS is established by using the micro-sawtooth structure to simulate the bionic seta structure and rough ground, obtained the displacement and velocity curve of the peristaltic movement of the soft robot in X axis direction and analyze the movement characteristics. The movement state transitions and the rolling motion of the softrobot are studied through the experiment method on the basis of the robot structure design and kinematics simulation. The prototype of the soft robot is made by using the existing experimental materials and equipment, the motion unit of the soft robot is bonded by AB glue to simplify the structure of the soft robot, the control system of the bionic soft robot is designed which can simultaneously control the motion of24SMA bent actuator. Verified the feasibility that the bonding method to connect the head and tail of the soft robot can convert from the annular state to the linear motion, and the characteristics of the rolling motion are studied by the experiment method (the soft robot can scroll160mm in6s).
(3) Based on the three-dimensional space force system, the mechanical equilibrium of the SMA linear actuator and the dynamic equilibrium equation of the elastic substrate is established, and the SMA constitutive equations and the thermodynamic equilibrium equation is introduced to give the detailed dynamic model of the plannar bending actuator embedded SMA wires, so the deflection process of the plannar bending acuator can be effectively predicted.
(4) The quasi-static thermal/mechanical characteristics and the dynamic thermal/mechanical characteristics are detailed study by the experimental, and the research emphasis focused on the characteristics of the change of the phase transition temperature of the SMA wires in different stress conditions and gives the stress-strain characteristics on different train rate. Due to the SMA have characteristics of the large output power and deformation, higher power-weight ratio, low-voltage drive and long life, the plannar bending actuator embedded SMA wires which has stable and reliable performance is designed, and the driving characteristics is detailed study through simulation and experimental to verify the correctness of the mechanical equations. And frome the experimental result, we found that the output angle and output moment of the actuator has a linear relationship, and useing the big pulse current heating method can effectively improve the efficiency of the actuator.
针对当前仿生软体机器人存在运动模式单一,运动效率和环境适应能力不能有效兼顾的问题,本论文以能实现三种运动模式的仿生软体机器人为研究对象,围绕着仿生软体机器人三种运动模式的实现机制,开展了仿生软体机器人多运动模式实现原理研究,仿生软体机器人整体结构设计研究,仿生软体机器人运动特性研究以及内嵌SMA丝的平板弯曲驱动器动态特性研究等工作。论文的主要研究内容和成果如下：
(1)通过分析自然界中各种软体动物的运动特点,在已有研究工作的基础上,结合形状记忆合金的特性,设计了一种将滚动运动、蠕动运动和Ω型运动方式集合在一起的可变形仿生软体机器人。在平坦路面上,通过自身的柔性变形推动仿生软体机器人向前滚动运动,以提高其运动速度和运动效率；在通过狭小空间时,身体展开采用蠕动运动以提高通过性；而遇到沟壑或者障碍时,身体变形采用Ω型前进提高其越障能力。通过对仿生软体机器人的三种运动模式进行详细的研究,获得了软体机器人实现三种运动模式的运动机理,然后在此基础上完成了软体机器人的总体方案设计。软体机器人采用模块化的设计思想,由运动单元和分离单元组成。每个运动单元包括了偏转单元和蠕动单元,设计了软体机器人的偏转单元和蠕动运动单元以及头尾连接结构。
(2)利用多刚体运动学仿真软件ADAMS对仿生软体机器人两种典型的运动模式,滚动运动和蠕动运动,进行运动学的仿真分析。基于伪刚体模型建立了仿生软体机器人在ADAMS中的滚动仿真模型,通过调整弹簧力的施加时序,使得机器人的滚动达到最优,获得了仿生软体机器人在X轴方向(滚动方向)和Y轴方向(垂直于滚动运动方向)的运动位移和速度曲线图,给出了仿生软体机器人滚动运动的控制策略。建立了软体机器人在ADAMS中的蠕动运动仿真模型,采用微型锯齿结构来模拟仿生刚毛结构和粗糙的地面,获得了软体机器人在X轴方向(蠕动运动方向)上的运动位移和速度曲线图,并分析了运动特性。利用实验室现有的材料和设备,加工一个仿生软体机器人的原理样机,采用AB胶来粘结软体机器人的各个运动单元,简化了软体机器人的结构,设计了可同时控制24路SMA偏转驱动器的仿生软体机器人运动控制系统。验证了采用粘结的方式连接仿生软体机器人头尾可以从环形运动状态转换到直线运动状态,以及通过实验的方法对软体机器人的滚动运动特性进行了研究(机器人可以在6s的内可以滚动160mm)
(3)基于三维空间力系平衡关系,分别建立了SMA线性致动器的力学平衡方程和弹性基板的力平衡方程和力矩平衡方程,综合SMA线性致动器的平衡方程和弹性基板的平衡方程即可获得平板弯曲驱动器的动力学平衡方程,并引入SMA本构方程和SMA热力学平衡方程,在已知平板驱动器各个参数的情况下,使得平板弯曲驱动器的偏转过程可以被有效的预测出来。
(4)对SMA准静态热/力耦合特性、动态热/力耦合特性及本构模型进行了详细的实验研究,并重点研究了SMA丝在不同应力条件下相变温度随应变的变化而改变的特性以及不同应变速率情况下的应力一应变特性。基于SMA具有输出力大、变形大、较高功重比、低电压驱动和寿命长的特性,设计了性能稳定且可靠的内嵌SMA丝的平板弯曲驱动器,并通过仿真和实验对其偏转特性进行详细的研究。通过仿真和实验结果的对比,验证了平板驱动器力学模型的正确性,同时发现平板弯曲驱动器的偏转角度和输出弯矩有着近似的线性关系,并且采用脉冲电流对SMA丝加热的方式可以有效的提高驱动器的输出效率。
With infinite degrees of freedom and continuous deformation capacity, the mollusks can arbitrarily change their shapes and sizes so that they have a strong ability to adapt to the natural environment. Developed the bionic robot with similar biological ability is the target for the researchers from all over the world. As a continuation of the bio-robot research, the bionic soft robots have an excellent flexibility and compatibility to the complex environment, through the combination of active deformation and passive deformation. This type of robots has broad application prospects in the military, scientific research, medical and other fields.
The bionic soft robot has the problem that the movement pattern is very single, the movement efficiency and the environmental adaptability can not effectively take into account. In order to solve this problem, this thesis takes the soft robot which has three locomotion modes as the research object. Surrounding the implementation mechanisms for accomplishing the multi-locomotion modes, this dissertation carried out the reasearch of multi-locomotion modes bionic implementation principle, the study of how to implementate the bionic soft robot overall structure, the reasearch of the dynamic characteristics of the plannar bending actuator embedded SMA wire and the study of the motion characteristics of the bionic soft robot, etc. The main research contents and contributions of this paper are listed as follows:
(1) By analysis of the movement characteristics of the nature mollusks, a bionic soft robot which has rolling motion, peristaltic movements and omega-type motion is designed based on the existing research work and combination of the characteristics of the shape memory alloy. On a flat road, the bionic soft robot uses the rolling movement to improve the movement speed and movement efficiency through the flexible deformation; the body is expanded to use the peristaltic movement to improve the ablitiy of through the narrow space; when the soft robot encountered the obstacles, the body deformation using the Omega-type forward way to improve the ability of through the obstacles. By the detailed study of the three kinds of movement modes, the motion mechanism which achieves three loconmotion modes is obtained and then completed the design of the overall structures of the soft robots according to the front analysis. The soft robot is designed based on the modular concept and it consists of movement unit and separation unit. Each movement unit is comprised by a deflection unit and a peristaltic unit, the design of the deflection unit、the peristaltic movement unit and the head and tail connection structure is detailed designed.
(2) The kinematics simulation of the two typical movement patterns of the soft robot, the rolling locomotion and peristaltic movement, are analysed using powerful many-body dynamics emulation software ADAMS. Based on the pseudo-rigid model, the simulation model of the rolling motion of the soft robot in ADAMS is bulilt, by adjusting the control sequence of the spring force to achieve the optimal the rolling speed and obtained the displacement and velocity curve of the rolling movement of the soft robot in X axis and Y axis direction, the control strategy of the rolling motion is given. The simulation model of the peristaltic movement of the soft robot in ADAMS is established by using the micro-sawtooth structure to simulate the bionic seta structure and rough ground, obtained the displacement and velocity curve of the peristaltic movement of the soft robot in X axis direction and analyze the movement characteristics. The movement state transitions and the rolling motion of the softrobot are studied through the experiment method on the basis of the robot structure design and kinematics simulation. The prototype of the soft robot is made by using the existing experimental materials and equipment, the motion unit of the soft robot is bonded by AB glue to simplify the structure of the soft robot, the control system of the bionic soft robot is designed which can simultaneously control the motion of24SMA bent actuator. Verified the feasibility that the bonding method to connect the head and tail of the soft robot can convert from the annular state to the linear motion, and the characteristics of the rolling motion are studied by the experiment method (the soft robot can scroll160mm in6s).
(3) Based on the three-dimensional space force system, the mechanical equilibrium of the SMA linear actuator and the dynamic equilibrium equation of the elastic substrate is established, and the SMA constitutive equations and the thermodynamic equilibrium equation is introduced to give the detailed dynamic model of the plannar bending actuator embedded SMA wires, so the deflection process of the plannar bending acuator can be effectively predicted.
(4) The quasi-static thermal/mechanical characteristics and the dynamic thermal/mechanical characteristics are detailed study by the experimental, and the research emphasis focused on the characteristics of the change of the phase transition temperature of the SMA wires in different stress conditions and gives the stress-strain characteristics on different train rate. Due to the SMA have characteristics of the large output power and deformation, higher power-weight ratio, low-voltage drive and long life, the plannar bending actuator embedded SMA wires which has stable and reliable performance is designed, and the driving characteristics is detailed study through simulation and experimental to verify the correctness of the mechanical equations. And frome the experimental result, we found that the output angle and output moment of the actuator has a linear relationship, and useing the big pulse current heating method can effectively improve the efficiency of the actuator.
引文
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