Motion Control Applications, For The 3-sps Bionic Joint Institutions

This paper mainly studies 3-SPS biomimetical joint mechanism's kinematics, control system, application problems, etc. The backward displacement solution of 3-SPS biomimetical joint mechanism is proposed by analyzing the kinematics of the biomimetical joint mechanism, and carried on correlative simulation experiment. We have emphatically designed the hardware control system to the 3-SPS biomimetical joint mechanism, after synthesizing several common drive types, proposed the hydraulic-servo control strategy, established the system's parameter and single-urn mathematical model to propose a new Distributed Control System Based on CAN Bus. In view of the biomimetical joint mechanism's trait, a fuzzy adaptive control strategy is proposed here, set up the rogatory tabulation of fuzzy control. After that, we designed the fuzzy adaptive controller for the single-urn's hydraulic-servo system and did correlative emulational experiment. Then thesis regards the crab-like robot as the research object, discusses the development of the crab-like robot and the advantages of the crab-like robot walking and intelligent controlling. Then used 3-SPS biomimetical joint mechanism as the crab-like robot's joint, the thesis establishes the biological modeling crab single leg structural model. With the algorithm of the fuzzy controller and the parameters of the crab-like robot confirmed, the simulation diagrams are plotted. This model may provide some help in the field of the eight-legged machine such as crab-like robot.