二维变刚度蛇形机器人的运动仿真与性能分析

doi:10.16182/j.issn1004731x.joss.20-0871

系统仿真学报 ›› 2022, Vol. 34 ›› Issue (4): 759-767.doi: 10.16182/j.issn1004731x.joss.20-0871

二维变刚度蛇形机器人的运动仿真与性能分析

龙艳琴¹(), 乔贵方^1,², 宋光明¹(), 张颖², 程琳琳¹

^1.东南大学仪器科学与工程学院，江苏南京 210096
^2.南京工程学院自动化学院，江苏南京 211167

收稿日期:2020-11-10 修回日期:2020-12-17 出版日期:2022-04-30 发布日期:2022-04-19
通讯作者: 宋光明 E-mail:1678539298@qq.com;mikesong@seu.edu.cn
作者简介:龙艳琴(1996-)，女，土家族，硕士生，研究方向为机器人仿生控制技术。E-mail：1678539298@qq.com
基金资助:
国家自然科学基金(51905258);中国博士后科学基金(2019M650095);江苏省自然科学基金(BK20170763)

Motion Simulation and Performance Analysis of 2D Variable Stiffness Snake-like Robot

Yanqin Long¹(), Guifang Qiao^1,², Guangming Song¹(), Ying Zhang², Linlin Cheng¹

^1.School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
^2.School of Automation, Nanjing Institute of Technology, Nanjing 211167, China

Received:2020-11-10 Revised:2020-12-17 Online:2022-04-30 Published:2022-04-19
Contact: Guangming Song E-mail:1678539298@qq.com;mikesong@seu.edu.cn

摘要/Abstract

摘要：

针对二维变刚度蛇形机器人运动性能的研究，建立了Simulink/Adams联合仿真模型，利用仿真模型研究变刚度驱动器的阻尼系数、刚度参数及角频率对其运动能耗的影响。为实现关节轨迹和关节刚度的同步控制，提出了基于双层CPG的运动控制器。结果表明：阻尼系数能够有效降低起动能耗占总能耗的比例，且低速运动时的起动能耗占比随刚度参数的增加而提高；高速运动时的变刚度蛇形机器人运动能耗存在峰值，应避免在该条件下运动。

关键词: 蛇形机器人, 变刚度驱动器, 仿生控制, 能耗, 中枢模式发生器

Abstract:

Aiming at the study on the motion performance of a two-dimensional variable stiffness snake-robot, a Simulink/Adams co-simulation model is established, and the effects of the damping coefficient, the stiffness parameters and the angular frequency of the variable stiffness actuator on the motion energy consumption are analyzed. To realize the synchronous control of joint trajectory and stiffness, a motion controller based on two-layer CPG is proposed. The results show that the damping coefficient can effectively reduce the proportion of starting energy consumption of the variable stiffness snake-like robot, and the ratio of starting energy consumption increases with the stiffness parameter increasing at low speed. The energy consumption of the variable stiffness snake-like robot has a peak value at high speed, so the movement under this condition should be avoided.

Key words: snake-like robot, variable stiffness actuator, bio-inspired control, energy consumption, central pattern generator

中图分类号:

TP249

龙艳琴, 乔贵方, 宋光明, 张颖, 程琳琳. 二维变刚度蛇形机器人的运动仿真与性能分析[J]. 系统仿真学报, 2022, 34(4): 759-767.

Yanqin Long, Guifang Qiao, Guangming Song, Ying Zhang, Linlin Cheng. Motion Simulation and Performance Analysis of 2D Variable Stiffness Snake-like Robot[J]. Journal of System Simulation, 2022, 34(4): 759-767.

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名称	长度/mm	宽度/mm	高度/mm	质量/kg
头部模块	135	50	60	0.937
连接模块	135	50	60	0.969
尾部模块	110	50	60	0.935
机体参数	1 460	50	60	10.593

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二维变刚度蛇形机器人的运动仿真与性能分析

Motion Simulation and Performance Analysis of 2D Variable Stiffness Snake-like Robot

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