基于骨骼肌三元素模型的仿生肌肉设计及应用研究

发布时间：2018-02-06 04:23

本文关键词： 仿人机器人仿生肌肉柔性驱动器骨骼肌肉仿生生物力学模型　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：仿人机器人因为具有类人的双足行走功能而具有很广阔的发展前景,但是目前的仿人机器人驱动存在着柔性不足等缺点,因此研制出类似于人类肌肉特性的柔性驱动装置具有深远意义。仿人机器人如果具备了这种可以改变自身柔顺的特性,在完成各种动作时就能具有更好的适应性并降低系统的能耗。本文依据生物骨骼肌肉的Hill三元素模型,提出以运动单元、阻尼单元和弹性单元组成的仿生肌肉模型,实现对生物肌肉的仿生;给出了仿生肌肉关键零部件的设计过程,介绍了仿生肌肉的几种工作状态;利用软件建立了仿生肌肉的三维模型,对模型进行分析得到合适的阻尼系数,从而完成阻尼单元的设计;通过模拟Hill和Baratta的实验过程,对仿生肌肉模型进行动力学分析发现本文所设计的仿生肌肉在力-速度关系和力-肌肉长度-速度关系上符合Hill方程和Baratta三维数学模型;研究了仿生肌肉收缩后在无驱动和无负载的情况下长度变化情况,发现和生物骨骼肌肉性质一致,均能回复到肌肉的原始长度;依据人体的参数建立了人体下肢模型,在ADAMS中利用设计的仿生肌肉驱动下肢模型,通过设置合理的仿真参数,能够得到与人体自由步态实验数据相符合的髋关节的角位移曲线。本研究为仿人机器人的柔性驱动提供了一种新思路。提出的仿生肌肉经过仿真验证,其性质与Hill和Baratta的生物骨骼肌肉性质描述相似。仿生肌肉应用于人体下肢模型驱动所得与人体自由步态相符的髋关节运动,验证了所提方案的可行性。
[Abstract]:Humanoid robot has a broad development prospect because of its humanoid biped walking function, but the current humanoid robot drive has some shortcomings such as lack of flexibility and so on. Therefore, it is of great significance to develop a flexible driving device similar to human muscle characteristics. If humanoid robot has this characteristic, it can change its own compliance. In order to achieve better adaptability and reduce the energy consumption of the system, this paper proposes a motion unit based on the Hill three-element model of biological skeletal muscle. The bionic muscle model composed of damping element and elastic element is used to realize the bionics of biological muscle. The design process of key parts of bionic muscle is given, and several working states of bionic muscle are introduced. The 3D model of bionic muscle is established by using software, and the appropriate damping coefficient is obtained by analyzing the model, and the design of damping element is completed. The experimental process of Hill and Baratta was simulated. The dynamic analysis of the biomimetic muscle model shows that the bionic muscle designed in this paper accords with Hill equation and Baratta 3D mathematical model in the relationship between force and velocity and the relationship between force and muscle length and speed. The length change of bionic muscle after contraction without driving or load was studied. It was found that the original length of the muscle could be restored to the same as the nature of the biological skeletal muscle. Based on the parameters of the human body, the lower limb model is established, and the lower limb model is driven by the designed bionic muscle in ADAMS, and the reasonable simulation parameters are set up. The angular displacement curve of hip joint can be obtained in accordance with the experimental data of human free gait. This study provides a new way of thinking for flexible driving of humanoid robot. The proposed bionic muscle is verified by simulation. Its properties are similar to those described by Hill and Baratta. Biomimetic muscles are used to drive hip joint motion in accordance with human free gait. The feasibility of the proposed scheme is verified.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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