仿青蛙游动软体机器人控制系统设计  

Design on control system of frog-like swimming soft robot

作　　者：樊继壮[1] 于庆国 闫旭 杜启龙 FAN Ji-zhuang;YU Qing-guo;YAN Xu;DU Qi-long(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《哈尔滨商业大学学报（自然科学版）》2018年第6期686-691,共6页Journal of Harbin University of Commerce：Natural Sciences Edition

基　　金：国家自然科学基金(51675124);国家重点研发计划"智能机器人"重点专项(2017YFB1300104)

摘　　要：控制系统是机器人实现运动的关键.通过对所设计的由气动软体致动器驱动的仿青蛙游动软体机器人的机械结构和其仿生游动功能需求的分析,建立气动系统和电气系统,并通过Labview编写上位机软件,采用无线通讯的方式实现对仿青蛙游动软体机器人的远程调控以及数据采集,避免外接线束和管路对仿青蛙游动软体机器人运动的干扰,方便对仿青蛙游动软体机器人运动性能进行测试.经过实验验证,所设计的控制系统性能稳定、工作可靠,完全满足仿青蛙游动软体机器人的功能需求.The control system is the key to the robot＇s movement. Through the analysis of themechanical structure of the designed frog - like swimming soft robot driven by the pneumaticsoft actuator and its bionic swimming movement function requirements, an pneumatic systemand electrical system were established, and the upper computer software was written by Lab-view in this paper. Wireless communication was used to realize remote control and data ac-quisition of the frog - like swimming robot, to avoid the interference of the external wiringharness and pipeline to the movement of the frog - like swimming soft robot, and to facilitatethe testing of the movement pefformance of the frog - like swimming soft robot. Through the ex-perimental verification, the designed control system was stable in performance, reliable in op-eration, and fully satisfies the functional requirements of the frog -like swinmfing soft robot.

关 键 词：青蛙 游动机器人 气动系统 电气系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]