Journal of Bionic Engineering ›› 2023, Vol. 20 ›› Issue (2): 598-611.doi: 10.1007/s42235-022-00279-w
Bionic Muscle Control with Adaptive Stiffness for Bionic Parallel Mechanism
Yaguang Zhu1,2; Ruyue Li1; Zhipeng Song1
- 1 The Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China 2 Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components, Shanghai 201620, China
Bionic Muscle Control with Adaptive Stiffness for Bionic Parallel Mechanism
Yaguang Zhu1,2; Ruyue Li1; Zhipeng Song1
- 1 The Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China 2 Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components, Shanghai 201620, China
摘要： As the torso is critical to the coordinated movement and flexibility of vertebrates, a 6-(Degree of Freedom) DOF bionic parallel torso with noteworthy motion space was designed in our previous work. To improve the compliance of the parallel mechanism, a pair of virtual muscle models is constructed on both sides of the rotating joints of each link of the mechanism, and a bionic muscle control algorithm is introduced. By analyzing the control parameters of the muscle model, dynamic characteristics similar to those of biological muscle are obtained. An adaptive stiffness control is proposed to adaptively adjust the stiffness coefficient with the change in the external load of the parallel mechanism. The attitude closed-loop control can effectively keep the attitude angle unchanged when the position of the moving platform changes. The simulations and experiments are undertaken to validate compliant movements and the flexibility and adaptability of the parallel mechanism.