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作为一种新型柔韧机器人,软体机器人越来越受到人们的重视。如何构建在不可预知环境下的应变能力是软体机器人技术的重点研究目标。针对该问题,提出了一种基于智能驱动传感的半软体机器人运动模式和系统组成,在此基础上设计建立了各运动模块的机构构型,并把执行器机构部件和形状记忆合金驱动器耦合成为整体,建立了机器人各关节的动力学模型和运动学模型,根据模型确定了机器人机构设计以及驱动器设计的关键参数。使用高强度工程塑料加工机器人壳体,采用3D打印柔软外壳和非对称足底,将2类合金丝固联在机器人体内,基于径向基函数(RBF)神经网络和支持度函数形成了最终的控制方案,并进行了前进方向的运动试验,验证了该机器人系统模型的正确性。
As a new type of flexible robot, the software robot is getting more and more attention. How to construct the resilience in an unpredictable environment is the key research goal of software robot technology. To solve this problem, a motion sensing system based on semi-soft robot is put forward. Based on this, the mechanism configuration of each motion module is designed and the actuator mechanism components are coupled with the shape memory alloy actuator As a whole, the kinematics model and kinematics model of each robot joint are established, and the key parameters of robot mechanism design and driver design are determined according to the model. Using high-strength plastic-machined robotic housings, 3D-printed soft shells and asymmetric soles were used to fasten two types of alloy wires in the robot body. Based on radial basis function (RBF) neural network and support function, the final Control scheme, and carried out the movement test in the forward direction to verify the correctness of the robot system model.