仿肌-骨张拉的高性能机械腿关键问题研究

As an important executive mechanism of the interaction between walking equipments and natural circumstance, robot leg is widely used in fields like leg robots, walking mechanism and special mobile equipments, which directly affects the safety, load capacity and energy efficiency. Faced with the high load, high speed and high mobility applications of walking locomotive equipments, performance of domestic and foreign robot leg need to be developed in terms of high strength, lightweight, low energy consumption and compactness currently. Considering that animal leg's muscle-skeleton tensegrity structure has noticeable advantages in improving performance of leg, this project aims to establish the designing theories and methods of high performance robot leg with analysis of bone remodeling structure topology and tensegrity structure system as well as dynamical modeling as finite element analysis of biological tissue structure and mechanism of robot leg from a point of bionic morphology, the focus points of which are researching topology method of structural elements' bionic bone remodeling which is based on the irregular structure and non-uniform equi-strength distribution of material, power deployment of tensegrity structure which contains multi-actuation and designing method of compact and light-weighting structure. This program plans to solve the problems of integral mass distribution, power deployment, impact resistance and designing of complex load structure, so that power density, pay-load weight ratio, structural strength and energy efficiency can be improved for the whole body, as well as provide a reference and theoretical basis for leg designing of other walking equipments.

机械腿作为行走移动装置与自然环境交互的重要执行机构，在各类足式机器人、步行移动装备上广泛应用，直接影响着装置的安全性、负载能力和能效。伴随高负载、高速高机动的应用需求，目前国内外机械腿在高强度、轻量化、低能耗和紧凑性方面的性能亟待提高。鉴于动物腿部肌-骨张拉的整体形态在提高腿部性能方面所具有的明显优势，本项目拟从形态仿生角度出发，采用骨重建结构拓扑和整体张拉系统分析的方法，通过对生物组织结构和机械腿机构的力学建模和有限元分析，建立高性能机械腿的设计理论和方法，重点研究基于骨骼不规则结构和材料非均匀等强度分布的仿骨重建整体结构拓扑方法和包含多驱动器的整体张拉机构动力配置以及紧凑轻量化机构设计方法。通过本项研究拟解决机械腿的整体质量分布、动力配置、抗冲击和复合载荷结构设计问题，从而提高整体的功率密度、负载/自重比、机构强度和能效等性能指标，同时也对其他行走移动装置的机械腿结构设计提供参考依据。

机器人应用在山地运输、抢险救灾、事故勘测、反恐排爆和极地科考等涉及国家公共安全和民生科技领域的需求日益迫切，然而常用的轮式或履带式机器人受地形影响很大，很难应用在复杂崎岖地形中。腿式机器人具有多肢体、多自由度特征，采用离散的运动轨迹，相较于轮式和履带式机器人，其在非结构、存在不确定因素的环境中具有更强的机动性、适应性，更好的灵活性、稳定性和容错性。机械腿作为腿式机器人与自然环境交互的重要执行机构，决定着机器人的作业适应性、行走速度和负载能力等核心应用性能。本项目重点从形态仿生出发，分四个方面开展研究工作。首先，通过研究动物肌肉-骨骼系统的组织结构形态，建立了三位的腿部肌-骨张拉整体模型和骨骼结构模型，获得了机构型式、惯量特征和机构刚度调节机制。其次，通过抽象、简化动物腿部整体机构力学模型，建立了仿动物腿张拉力学特征的机械腿机构模型。再次，分析研究了机械腿张拉机构在大冲击和高速推进状态下结构件的三维受力状态和应力分布。最后，采用机械腿张拉机构整体设计、结构件拓扑优化和驱动器优化配置等理论和方法，设计并制造了仿生机械腿原型样机，并开展了性能测试和理论验证。本项目总体上按期完成了各项研究计划和内容。上述成果能够为腿式机器人机械腿的开发设计提供参考和依据。