Mechanism Design And Control Of Bionic Elastic Actuated Joint Based On Multi-Configuration

With the deepening of the research and the popularization of the application of the joint robot,more powerful movement performance and wider applicability of the environment has become the future development trend.As the core of the robot motion system,the actuator determines the motion accuracy,spatial mobility,target bearing capacity and dynamic interaction of the robot.However,in the use of driving element driving legs,jumping,exoskeleton robot and other joint robots,often face the peak power,strong output changes frequently,system impact,increasing the related energy consumption cost at the same time,also reduced the overall stability of the robot system,which puts forward higher standard requirements for the design of the articulated robot motion system.In order to better adapt to joint robots,based on bionic joints,this paper proposed the fusion optimization of elastic drive and metamorphic mechanism.With the goal of improving the robot’s motion performance and energy utilization,a multi-configuration bionic elastic joint actuator with power modulation and collision buffering characteristics was researched and designed.The following research results have been obtained.(1)On the bionic structure design of elastic actuator,based on biological musculoskeletal system,we put forward the "spring element — metamorphosis mechanism" multi-configuration bionic elastic system,completed the design and production of the principle prototype,and carried out theoretical research on mechanism principle,kinematics and dynamics around the characteristics of energy transfer.(2)In the control strategy of bionic elastic actuator,the PID algorithm and PWM signal are applied to realize the precise control of motor and servo,and realize the distribution and modulation of the motor kinetic energy and elastic potential energy.In the driving performance experiment,the periodic motion of the biological joint was simulated to verify the feasibility and effectiveness of the control method and strategy.(3)With the practical application of joint robots as the background,a One-legged hopping robot based on biomimetic elastic actuator is designed.With the multi-configuration redundancy characteristics of the actuator,different driving schemes and control strategies are given.In the jumping gait,the difference and the pros and cons of the driving effects of each configuration are analyzed and demonstrated.(4)Taking the jumping performance of the one-legged hopping robot as the research goal,a high-speed camera acquisition system was used to carry out a jump experiment study,which verified the feasibility of multiple jumping schemes.Comparing the experimental results of the jumping height of different driving schemes,it demonstrates the advantages of the multi-configuration bionic elastic actuator in the short-term high burst power output.In this paper,we study with variable stiffness,changes in the process of reduction ratio,redundant actuation method for robot joints drive provides a new solution.Multi-configuration bionic elastic actuator shows the redistribution of dynamic energy in the experiment,and has outstanding performance in power modulation,energy adjustment and collision buffering,which can provide a theoretical basis and technical reference for future high-performance actuator research.