纤维阵列驱动刚柔软机械臂的变刚度驱动机理与实验研究

Robotic arms have been widely used in the industrial and agricultural productions, service industry and other fields, and have provided with significant engineering and application values. The robotic arms, which are featured by the lightweight and compliant design, could have both good energy-saving economy and environmental adaptability, so it is able to better satisfy the requirements of future development. However, most researchers have investigated either on the rigid-flexible manipulator actuated by motors or on the soft manipulators actuated by artificial muscle, and few people have studied a kind of in-between manipulators with rigid-flexible and soft characteristics. This project takes a rigid-flexible-soft (RFS) robotic arm, which is made of the soft muscle driving the rigid-flexible skeleton, as the research object, and explores the mechanism of actuation with variable stiffness of the RFS robotic arms under specific conditions, by investigating the implement method of typical bending and twisting rotational actuator with variable stiffness in the RFS robotic arm. The details are as follows: the preparation process and thermodynamic properties of the nylon-SMA composite fiber are investigated to build the design criteria of the composite muscle fiber. The effective topology of the typical bending and twisting actuator with variable stiffness implemented by fibers arrays muscle is studied. Based on the driving model of fibers arrays, the matching design and fabrication of RFS robotic arm under specific conditions are explored to study the control method on the actuator with variable stiffness of the RFS robotic arms. The project aims at investigation on the mechanism of actuation with variable stiffness and implementation method of RFS robotic arms, to provide a new theoretical principle for the design of more lightweight and compliant robotic arms.

机器人手臂大量应用于工农业生产与服务业等领域，具有重要的工程应用价值；轻量与柔顺的机械臂兼具良好的节能经济性和环境适应性，符合未来发展的需求；然而，大多数学者在研究这种轻量柔顺机械臂时局限在电机驱动的刚柔机械臂或人工肌肉驱动的软体机械臂，很少有人研究介于两者之间的刚柔软机械臂。本项目以软体肌肉驱动刚柔骨架的刚柔软机械臂为研究对象，通过研究刚柔软机械臂中典型的弯、扭转动关节变刚度驱动的实现方法，探索一定条件下刚柔软机械臂的变刚度驱动机理。具体内容包括：研究尼龙合金复合纤维的制备工艺与热力特性，探索建立肌肉纤维的设计准则；研究肌肉纤维阵列实现典型的弯、扭转动关节变刚度驱动的有效拓扑结构；基于纤维阵列的驱动模型，探索一定条件下刚柔软机械臂的设计与试制，研究刚柔软机械臂的变刚度驱动控制方法。本项目旨在研究刚柔软机械臂的变刚度驱动机理与实现方法，为设计更加轻量节能与柔顺安全的机械臂奠定新的理论基础。

机器人手臂大量应用于工农业生产与服务业等领域，具有重要的工程应用价值；轻量与柔顺的机械臂兼具良好的节能经济性和环境适应性，符合未来发展的需求；然而，大多数学者在研究这种轻量柔顺机械臂时局限在电机驱动的刚柔机械臂或人工肌肉驱动的软体机械臂，很少有人研究介于两者之间的刚柔软机械臂。本项目以软体肌肉驱动刚柔骨架的刚柔软机械臂为研究对象，通过研究刚柔软机械臂中典型的弯、扭转动关节变刚度驱动的实现方法，探索一定条件下刚柔软机械臂的变刚度驱动机理。.具体内容包括：研究尼龙合金复合纤维的制备工艺与热力特性，探索建立肌肉纤维的设计准则；研究肌肉纤维阵列实现典型的弯、扭转动关节变刚度驱动的有效拓扑结构；基于纤维阵列的驱动模型，探索一定条件下刚柔软机械臂的设计与试制，研究刚柔软机械臂的变刚度驱动控制方法。.通过研究，探索了人工肌肉材料的制备工艺与热力特性，建立了纤维阵列材料的设计规律。在此基础上，利用纤维阵列驱动设计了变刚度机械手和变刚度腕关节；通过光纤测量了软体手的位置和抓握力，对软体手抓握力进行控制，对腕关节进行拮抗驱动控制。.利用形状记忆合金、形状记忆高分子和高弹性尼龙复合研制了各种人工肌肉纤维和块状肌肉材料，提高了人工肌肉材料的驱动性能；利用纤维阵列驱动软体机器人，兼顾了纤维的大变形率和驱动能力；采用纤维阵列拮抗控制以及机器人动力学逆运算和补偿，提高了变刚度驱动的控制精度和响应速度。.本项目研究了刚柔软机械臂的人工肌肉材料，关节部件和驱动控制机理与实现方法，为设计更加轻量节能与柔顺安全的机械臂奠定新的理论基础。