基于生物特征的人形躯干设计与实验。

IF 3.1 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY
Wenshuo Gao, Zhiwei Tian
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引用次数: 0

摘要

在仿人机器人的组成部件中,仿人躯干是支撑仿人机器人完成预期动作的关键部件。为了获得更好的工作性能,本文基于生物特征开发了一种新的LARMbot躯干。通过对人体躯干和脊柱解剖结构的分析,提出了一种利用两个伺服电机和两个滑轮驱动并联索驱动机构的方案。对所提出的并联索驱动机构的性能进行了分析评价。采用闭环控制系统对整个机器人躯干进行控制。利用制造的原型进行了三种模式下的实验,以评估所提出设计的特性。实验结果表明,所设计的LARMbot能够完成预期的运动。不同方向的一般弯曲,最大弯曲角度为40度,电缆最大拉力为0.68 N,最大所需功率为18.3 W。在全旋转运动时,最大弯曲角度为30度,电缆最大拉力为0.75 N,所需最大功率为20.5 W。本设计结构简单轻巧,能耗低,空间运动性能灵活,满足了仿人机器人躯干在复杂场景下的应用和商业需求。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and experiments of a humanoid torso based on biological features.

Among the components of a humanoid robot, a humanoid torso plays a vital role in supporting a humanoid robot to complete the desired motions. In this paper, a new LARMbot torso is developed to obtain better working performance based on biological features. By analyzing the anatomy of a human torso and spine, a parallel cable-driven mechanism is proposed to actuate the whole structure using two servo motors and two pulleys. Analysis is conducted to evaluate the properties of the proposed parallel cable-driven mechanism. A closed-loop control system is applied to control the whole LARMbot torso. Experiments are performed using the manufactured prototype in three modes to evaluate the characterizations of the proposed design. Results show that the proposed LARMbot can complete the desired motions properly, including two general human-like motions and a full rotation motion. When completing two general human-like motions, the maximum bending angle is 40 degrees. The maximum cable tension is 0.68 N, and the maximum required power is 18.3 W. In full rotation motion, the maximum bending angle is 30 degrees. The maximum cable tension is 0.75 N, and the maximum power required is 20.5 W. The proposed design is simplified and lightweight, with low energy consumption and flexible spatial motion performance that can meet the requirements of the humanoid robot torso's application in complex scenarios and commercial requirements.

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来源期刊
Bioinspiration & Biomimetics
Bioinspiration & Biomimetics 工程技术-材料科学:生物材料
CiteScore
5.90
自引率
14.70%
发文量
132
审稿时长
3 months
期刊介绍: Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.
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