Design The Structure And Study On The Motion Law Of The Joint Of A Viscoelastic Bionic Robot

With the development of bionic legged robot,it has gradually become a hot topic in the field of bionic robot.Structure and movement characteristics of bionic legs are mainly reflected by viscoelastic joints,so designing a high energy efficiency and environmental adaptability biomimetic robot joints and researching its characteristics not only can provide basic theory and methods for breaking efficient and stable walking of the legged bionic robot but also can provide a good foundation for obtaining cooperative mechanisms between the structural organization of the legs.Based on the analysis of the status quo of the domestic and foreign flexible joint.For the scientific challenge restricting the development where legged bionic robot movement efficiency and environmental compatibility are difficult to balance,the paper carried out the following research of the viscoelastic joint:First,for the demand of animal legs to adjust the state of motion and movement stability conditions in the different state of motion and environmental conditions,the anatomical structure of the human leg is analyzed and its abstraction is the coupling system of the drive unit,the spring damping,and the mass.On this basis,the paper simplifies the coupled dynamic model of the leg as the spring-mass model,and establishes dynamic differential equations of each state which is the standing jump,flat jump forward and jump forward obstacles encountered,and lists the constraints of steady motion and simulation analysis.According to the simulation results,the parameters of the stability of the model under different motion conditions are obtained.Second,for the movement of the viscoelastic bionic robot leg needing both stability and efficiency requirements,design a viscoelastic joints in full compliance with the principle of bionics.At first,the paper analyzes the overall structure of the joint which is composed by the position drive unit,the elastic adjusting unit and damping adjusting unit.The joint use three motors respectively on the joint position,stiffness and damping module to adjust,and achieve the characteristics of each functional independently.Then the paper carries out the theoretical analysis and research of the stiffness adjustment module and damping adjusting module,designs the core structure of these two modules in detail and introduces specific ways to achieve variable stiffness of the joint by spring and achieve variable damping by friction plate.Third,based on the design of biomimetic robots viscoelastic joint the paper build a viscoelastic joint performance testing platform.In the experiment,the properties of the whole viscoelastic system are tested by the joint stiffness and damping modules at the same time.Verify the designed joint has both stiffness adjustable and damping adjustable features.