气动软阀逻辑回路在软体机器人控制中的应用  

Application of pneumatic soft-valve logic circuit in the soft robot control

作　　者：赵慧 谭代彬 张峰 赵宇豪 ZHAO Hui;TAN Daibin;ZHANG Feng;ZHAO Yuhao(Key Laboratory of Metallurgical Equipment and Control(Ministry of Education),Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,武汉430081 [2]武汉科技大学机器人与智能系统研究院,武汉430081

出　　处：《重庆理工大学学报（自然科学）》2022年第10期159-165,共7页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金青年科学基金项目(12102311)。

摘　　要：提出了一种可用于六足软体机器人步态控制的气动软阀逻辑回路,气动软阀逻辑回路由气动环形振荡器、三通双稳态软阀、手动控制器组成。由气动软阀组成的环形振荡回路可自主产生3组不同相位的气压振荡周期信号。对气动环形振荡回路振荡周期的影响因素进行了建模与分析。整个气动软阀逻辑回路具有完全柔软性且不含任何电子元件,可应用于限制电子设备使用的环境,如:躲避电信号监测、对电火花敏感等极端环境。经测试,软体机器人在3种不同工况条件下运动的步态周期分别为T1≈3.02 s、T2≈4.10 s和T3≈4.96 s。气动软阀逻辑回路可控制六足软体机器人实现预期动作。A pneumatic soft valve logic circuit for the control of soft robots is proposed,which is applied to the gait control of hexapod soft robots.The logic circuit of pneumatic soft valve is composed of pneumatic ring oscillator,three-way bistable soft valve and manual controller.The ring oscillation circuit composed of pneumatic soft valve can independently generate three groups of different phase pressure oscillation periodic signals.In this paper,the factors affecting the oscillation period of the pneumatic ring oscillation loop are modeled and analyzed,and used to control the self-designed hexapod robot.The whole pneumatic logic circuit is completely flexible and does not contain any electronic components,which can provide a new way for soft robot in the extreme environment where the use of electronic equipment in the surrounding environment is limited,such as avoiding electric signal monitoring,sensitive to electric sparks and so on.After testing,the gait cycles of soft robot under three different working conditions are T1≈3.02 s、T2≈4.10 s and T3≈4.96 s,respectively.Pneumatic soft valve logic circuit can control hexapod robot to achieve the desired action.

关 键 词：软体机器人 气动环形振荡器 气动软阀逻辑回路 步态控制 无电子化柔性控制系统 

分 类 号：TH122[机械工程—机械设计及理论]