基于SEA的机器人仿肌弹性驱动关节研究

摘要/Abstract

摘要：

为了实现机器人的拟人运动，提高其对外部环境的适应性，基于串联弹性驱动器(SEA)驱动形式提出一种仿肌弹性驱动的机器人转动关节，以实现机器人在受迫振动或受冲击下的柔顺自调整运动。该关节机构参考人体肌肉-肌腱组织的Hill-type模型，采用具有对抗形式的主动弹性驱动和被动弹性牵制的设计方案，模拟肌肉收缩运动和功能，产生牵拉力以驱动机器人的关节。通过对该弹性驱动关节进行建模分析，得到其动力学描述方程，结合多次仿真测试中获得的系统运动特性曲线，在掌握其运动规律的基础上完成了其动力学性能评估。此外，针对关节机构具有的强弹性、低刚度特点，提出一种基于虚拟刚度补偿的控制方法，并应用在具有仿肌弹性驱动关节的二自由度机器臂上，实验结果表明其可行、有效。

关键词: 仿生机构, 机器人, 串联弹性驱动器, 肌肉-肌腱, 刚度控制

Abstract:

In order to implement the capabilities of anthropomorphic locomotion and the compliances of contacting external environment in robot system, according to the SEA concept, this paper presented a type of elastically actuated robot revolution joint mimicking musculo-tendinous functions. It aimed at the compliant locomotion under the forced vibrations or the impacts. The joint mechanism refered to the Hill-type model of musculo-tendinous unit in human, untilizing the agonist-antangonist form of actively elastic drive and passively elastic constraint. The elastic actuation mainly imitateed the movements and functions of muscle contraction, which produced pulling force to drive the robot joint. Regarding the equations derived from dynamics analysis and the characteristic curves of joint movements in multiple simulations, the motion laws could be mastered, and the dynamics performances could be evaluated. In addition, for the joint characteristics of strong elasticity and low stiffness, the paper also proposed a virtual stiffness control method. This control approach was implemented in a 2 DOF articular robot arm applied with the elastically actuated joints, whose applicability and effectiveness were demonstrated by the experimental results.

Key words: bio-mechanism, robot, series elastic actuator(SEA), muscle-tendon, stiffness control

中图分类号:

TP242

何福本, 梁延德, 孙捷夫, 郭超. 基于SEA的机器人仿肌弹性驱动关节研究[J]. 中国机械工程, 2014, 25(7): 900-905.

He Fuben, Liang Yande, Sun Jiefu, Guo Chao. Study on Elastically Actuated Joints of Robot for Mimicking Musculo-tendinous Functions Based on SEAs[J]. China Mechanical Engineering, 2014, 25(7): 900-905.

参考文献

[1]Salisbury K, Eberman B, Levin M, et al. The Design and Control of an Experimental Whole-arm Manipulator[C]//5th International Symposium on Robotics Research. Cambridge: MIT Press, 1991: 233-241.
[2]Klug S, Lens T, von Stryk O, et al. Biologically Inspired Robot Manipulator for New Applications in Automation Engineering[C]//Proc. of Robotik Congress 2008. Düsseldorf: VDI Wissensforum GmbH, 2008:1-10.
[3]Frg D, Ulbirch H, Seyfarth A. Study of a Bipedal Robot with Elastic Elements[C]//41st International Symposium on Robotics (ISR)/6th German Conference on Robotics (ROBOTIK). Munich, 2010: 1-7.
[4]Williamson M M. Series Elastic Actuators[D]. Cambridge, MA, USA: Massachusetts Institute of Technology, 1995.
[5]马洪文, 王立权, 赵朋, 等. 串联弹性驱动器力驱动力学模型和稳定性分析[J]. 哈尔滨工程大学学报, 2012, 33(11): 1410-1416.
Ma Hongwen, Wang Liquan, Zhao Peng, et al. Research of Dynamic Model and Stability of a Series Elastic Actuator[J]. Journal of Harbin Engineering University, 2012, 33(11): 1410-1416.
[6]马洪文, 赵朋, 王立权, 等. 刚度和等效质量对SEA能量放大特性的影响[J]. 机器人, 2012, 34(3): 275-281.
Ma Hongwen, Zhao Peng, Wang Liquan, et al. Effect of Stiffness and Equivalent Mass on Energy Amplification Characteristics of SEA[J]. Robot, 2012, 34(3): 275-281.
[7]Bortoletto R, Sartori M, He F B, et al. Simulating an Elastic Bipedal Robot Based on Musculoskeletal Modeling[C]//Living Machines 2012. Barcelona,2012: 26-37.
[8]Donald M, Li Q. Design and Performance Evaluation of a Rotary Series Elastic Actuator[J]. Intelligent Robotics and Applications Lecture Notes in Computer Science, 2012, 7506: 555-564.
[9]Ham R, Sugar T, Vanderborght T, et al. Compliant Actuator Designs[J]. IEEE Robotics & Automation Magazine, 2009, 16(3): 81-94.
[10]Zajac F. Muscle and Tendon Properties Models Scaling and Application to Biomechanics and Motor Control[J]. Critical Reviews in Biomedical Engineering, 1989, 17(4): 359-410.
[11]Nordin M, Frankel V. Basic Biomechanics of the Msculoskeletal System[M]. 3rd ed. Philadelphia, USA: Lippincott Williams & Wilkins, 2001.
[12]Craig J J. Introduction to Robotics: Mechanics and Control[M]. 3rd ed. New Jersey, USA: Prentice Hall, 2004.
[13]van Ham R, Sugar T, Vanderborght B, et al. Review of Actuators with Passive Adjustable Compliance/Controllable Stiffness for Robotic Applications[J]. IEEE Robotics and Automation Magazine, 2009, 16(3): 81-94.
[14]Radkhah K, Kurowski S, Lens T, et al. Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness[C]//Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010). Darmstadt, Germany, 2010: 497-508.
[15]Lens T, von Stryk O. Safety Properties and Collision Behavior of Robotic Arms with Elastic Tendon Actuation[C]//7th German Conference on Robotics (ROBOTIK). Munich, 2012: 1-6.