类骨骼肌的高性能仿生关节驱动关键问题研究

The drive mechanism is an important foundamental part for the walking bio-robot and its driving performance directly affect the robot’s working ability. With increasing demands on high-load，high-speed and high-mobility moving, the velocity, acceleration, driving force and explosive force of the current bionic joint drive is urgently needed to be improved. Because of the obvious driving performance advantages of animal skeletal muscle, this project plans to considering the function, structure and material together, deeply analyse the micro-structure of the the skeletal muscle, the myofilament mechano-chemically coupled sliding motion mechanism and the biomaterial properties of the muscle cells and tissues. Then, excavate the reason of high-performance drive at the skeletal muscle, its working mechanisms and the coupling relationship, and get its drive mode and the dynamic model of skeletal muscle. Through the mathematics, physics and dynamics modeling and the research of the key technologies and methods, the project can establish bionic drive mechanism and bionic drive mode with high performance similar to skeletal muscle. Finally, use the digital hydraulic technology to achieve the high performance drive and to validate the theory. The project is mainly to reveal the drive mechanisms of the skeletal muscle with high performance, solve the bionic problem of skeletal muscle, enhancing joint driving performance, meanwhile provide theoretical and technical support for other high-performance drives.

驱动机构是仿生行走机器人必需的重要基础部件，它的驱动性能直接影响着机器人的工作能力。伴随着大负载高速高机动运动的应用需求，仿生关节驱动在速度、加速度、驱动力及瞬时爆发力方面的性能亟待提高。鉴于动物骨骼肌在驱动性能方面的明显优势，本项目拟从功能、结构和材料耦合仿生角度出发，通过深入研究和剖析骨骼肌的微观结构、肌丝的机械化学偶联滑行运动机制及肌细胞组织材料特性，挖掘骨骼肌高性能驱动产生的动因及其作用机理和相互耦合关系，获得骨骼肌的高性能驱动机理；通过数学、物理及动力学建模等方面的创新和关键实现技术与方法研究，构建类骨骼肌的高性能驱动模型和结构，并用数字液压驱动技术进行实现和验证。通过本项研究，揭示骨骼肌的高性能驱动机理，解决类骨骼肌的高性能驱动仿生实现问题，从而使行走机器人关节获得类骨骼肌的优异驱动性能，同时也为其它高性能驱动装置的研制提供理论和技术支持。

生物骨骼肌结构经过千万年的进化，其本身已经是非常优化的复杂精密结构，与现有驱动方式相比，具有优异运动性能和简洁紧凑结构。基于工程仿生学原理，在分析动物骨骼肌生理构成和驱动机理的基础上，模拟骨骼肌特性和结构，制作人工肌肉，已成为国内外仿生研究的一个热点领域。本项目在微观角度深入分析动物骨骼肌生理构成和驱动机理的基础上，模拟骨骼肌微观结构，通过数学、物理及动力学建模等方面的创新和关键实现技术与方法研究，构建了类骨骼肌的高性能驱动模型和结构，并用数字液压驱动技术进行类骨骼肌的仿生驱动装置设计与验证研究。通过本项研究，验证了经过合理的设计，类骨骼肌的数字液压仿生驱动能够实现驱动力大、响应速度快瞬时爆发力，但其制造工艺要求高，体积相对较大，需在这方面进一步进行研究才能面向工程应用。本项目的研究结果，为解决类骨骼肌的高性能驱动仿生实现问题提供了一条思路，同时也能够为其它高性能驱动装置的研制提供理论和技术支持。