Research On Brachiation Control Of Bio-Primates Robot Driven By Pneumatic Artificial Muscle(PMA)

Bio-Primates robot is a special kind of bio-robot system which imitates the locomotion of Primate Animals.The control of brachiation is gradually becoming a hot point in area.of bionic control research.Pneumatic muscles are getting more and more attention.This article pneumatic muscles are used as actuators to drive the brachiation movement of primate bionic robots.This article can be divided into two parts:The force and position control of the pneumatic artificial muscles,and the brachiation of the Bio-Primates robot.About hybrid control of force and displacement for pneumatic muscles,In this paper,the dynamic model and the statics model of pneumatic muscle are established by the analysis method,and the static model is verified by the method of experiment and data fitting;Due to the strong nonlinearity of the high-speed on-off valve in this paper,it is difficult to establish an accurate model through mathematical analysis.Consequently,the model measurement platform of high speed on-off valve is built,and the mass flow model of high speed on-off valve is established by polynomial fitting,that is,the relationship model of duty cycle,pressure and flow;For brachiation of the Bio-Primates robot,the dynamic model of primate bionic robot is established by using Lagrange equation.and the genetic algorithm is used to identify physical parameters of the robot used in this paper.About The design of controller.Based on the established model,a force and displacement hybrid controller is designed of The pneumatic muscle by means of Sliding Mode Variable Structure Control(SMC).A single pneumatic muscle control experiment platform was set up to perform the force position hybrid control experiment;In addition,the dynamic servo controller based on energy is used to control the brachiation of the Bio-Primates robot and the simulation analysis and verification of the controller are carried out in matlab/simulink;Finally,the pneumatic muscle was combined with the Bio-Primates robot,and the effectiveness of the control algorithm was verified by experiments.In order to verify the effectiveness of the algorithm proposed in this paper,a complete experimental platform is built.The Bio-Primates robot is designed as a form of two bar and a couple of dexterous and efficient bionic gripper is devised.A new configuration of the high-speed on-off valve was proposed and the electromagnetic valve actuator was improved,which effectively solves the problem that the controllable interval of the high-speed on-off valve is too small.