Antagonistic Pneumatic Muscle Based On Joint Research-Style Bionic

In nature,four-legged animal has the feature of fast, flexible and adaptable , meanwhile, four-legged robot is developed toward high-speed and flexibility gradually. As the develoption of foot robot from satic gait to dynamic gait, The introduction of flexible joint palys a important role on the improvement in sports performance and environmental adaptation. As the develoption of standardization of pneumatic muscle products and pneumatic servo technology, way of driving bionic joint based on Pneumatic muscle and artificial bones has became the focus of bionic robot research.In this paper, mathematical model of the static aerodynamic tendon is setup which makes the practical engineering control as the objective, and analysis the work space of leveraged joint besed that mathematical model. The decoupling control strategy of joint position control, stiffness control and position /Stiffness control are developed for the problem of joint redundant driving. This is the foundation of the design of bionic quadruped robot flexible joint based on pneumatic muscle.Firstly, pneumatic muscle testing system is set up based on testing requirements, isobaric experimental of static characteristics of pneumatic muscle test of is completed, the mathematical model of pneumatic muscle which is suitable for practical engineering is set up. The factor of work space of lever configuration joint is analysisd based on the experiment, provide a basis for the structure design of this kind of joint.Secondly, according to the different requirements of joint movement, redundant drive problem in the joint movement of mover muscles and antagonistic muscles is analysised. Position-position control and position-force control of Joint position strategy is developed, the problem of antagonistic work of twopneumatic muscle in position control is solved, moreover, invariant control problem of joint is researched based on mathematical model of pneumatic muscle develpoed by this paper. Stiffness control strategy and position / stiffness decoupling control strategy of joint are developed.Finally, mechanical structure and control system of single joint is designed, experimental platform is built, the experiment of position control, variable stiffness control based on single joint is completed. the accuracy of pneumatic muscle model and the effectiveness of position control strategy s and tiffness control strategy is verifed.