Research On Design Of AMulti-aerocyst Flexible Fitting Model Robot

This paper with a humanoid mannequin robot background, combined with modeling, pneumatic control and intelligent algorithm for robot technology, proposes a method to control the robot which is as a multi-aerocyst flexible fitting model.First of all, three theories are introduced here:existing three-dimensional human modeling of virtual technology, ergonomics and garment parameter evaluation. According to the balloon class flexible actuator control characteristics, we propose astrong targeted segmentation mechanism of the human bodyand also make a human body based mathematical model which regard the characteristic of human body as the main evaluation parameters.Secondly, we try to use different materials and different shapes of flexible actuator during the experiment. After that we take the production of TPU material as the bag flexible actuator material according to their material characteristics and deformation effects.Through experiments,these flexible actuator controls were tested, used as a method of controlling double closed-loop fuzzy classification algorithms, control volume change of the flexible actuator. In the control process, introduces the ratio of the rate of change of the gas flow and the pressure of ecd=ecp/ecm an intermediate variable, controlling the process smoother, control more accurate resultsand moreanti-jamming.Third, this paper discussesin the ideal situation,mathematics model of multi-aerocyst flexible implementation, made a control method based on PSOGA algorithm. The algorithm will particles group optimization and genetic algorithm effective to combined up, in particles group fell points process in the select adaptation degrees excellent of particles building gene pool.Last, this paper describes in detail the various balloon early generations of experimental system of the flexible model robot platform, including experimental work platform system architecture, hardware parameters, processes and software, complete the robot experiment platform system structure and software implementation.