Research On Modeling And Control Of Flexible Soft Drive Module

In recent years,the development of robot technology has made rapid progress,but the vast majority of robots are rigid body robots with rigid body structure.Although rigid structure has the characteristics of high strength,high precision and high speed,its flexibility is limited,and it may cause the robot to collide with the environment or people due to improper control and other unexpected reasons,resulting in robot damage or injury to people.The continuum robot with flexible structure is soft and has many degrees of freedom,which can mitigate impact and realize safe interaction with the environment.In this paper,a flexible soft drive module is designed as an independent drive module of a continuum robot,and its kinematics modeling is carried out,and its motion control algorithm and configuration detection method are studied.The main research content of this paper is as follows:(1)Design and kinematics modeling of flexible soft drive module.Through the analysis of the morphology and motion mechanism of the muscle hydrostatic skeleton,a new soft robot was proposed to drive the spring flexible shaft by the motor rotation.The overall structure of the flexible soft drive module was designed,and the kinematics modeling of the flexible soft drive module was carried out.(2)Research on configuration detection of flexible soft drive dodule.Based on the multi-sensor data fusion algorithm,a high-precision real-time detection method of the configuration parameters of flexible soft drive module was proposed.(3)Research on configuration control algorithm of flexible soft drive module.The differential relationship between the configuration parameters of the flexible soft drive module and the length of the spring soft shaft is analyzed,and the configuration control algorithm is designed based on this.The BP neural network is used to establish the mapping relationship between the number of turns and the length of spring soft axis to realize the control of spring soft axis length.(4)Experimental research on flexible soft drive module.The experimental platform of the flexible soft drive module was built,and the feasibility and control accuracy of the configuration control algorithm of the flexible soft drive module were verified through experiments.Load was installed at the end of the flexible soft drive module to verify that the flexible soft drive module could still move quickly and stably to the target configuration under the condition of load.