Study On The Design Of Humanoid Robot Driven With Pneumatic Artificial Muscles

As a new type of pneumatic actuators, pneumatic atificial muscles possess good performance similar to the nature muscles, so it is drawing more and more attention. However its principle is completely different from traditional driving devices, Therefore it is necessary to study the operating characteristics, at the meantime, it is also the basis of further researches.This research took the biped humanoid robot drived on pneumatic artificial muscles as the target, which was comprised of the design of mechanical structure, artificial muscle’character and the control system of the humanoid robot. As the system can not be applied to the design of other drive methods, the particularity of humanoid robot system using pneumatic muscles as actuators, which has its own particularity. Therefore by analysising the physiological structure of human body and walking motion, and the particularity of gas pneumatic muscles driven, this article apply pneumatic muscles to the corresponding mechanical system design. Then studying the pneumatic muscle way of the pneumatic control, which is the important prerequisite for the realization of the joint control, so this part is also the key content of the research.Therefore, the framework of this article mainly contain as follows:The first chapter briefly introduces the background and significance, moreover expounds the research status of pneumatic muscles on modeling and control method. It outlines the domestic and overseas advance of robot driven by pneumatic muscles, and puts forward the main work of this article.The second chapter firstly research the bone structure, combination form and means of action of waist and lower limb. According to the bipedal humanoid robot design goals, this article set degrees of freedom of humanoid lower limb and waist, and design the mechanical structure of the humanoid robot subsequently. By studing muscle tissue function of the legs and waist, moreover analyzing the particularity of human and artificial muscels, this article adopt pneumatic muscles, which is similar to human muscels, as the joint driver to improve its flexibility consequently. At the same time by improving the structure of the controller which apply to the antagonistic pneumatic muscles, I set the whole arrangement of joint controller.The third chapter is the study of the drive system of biped humanoid robot system, mainly design gas path system, the hardware control circuit and control software. The wiring design of the pneumatic drive system is adopted by a single source of gas supply, each joint and muscle controller was controlled respectively to achieve ON or OFF of gas by capital control chip through electromagnetic valve.The fourth chapter is the modeling and the control system of single pneumatic artificial muscle. According to the working principle of the pneumatic muscle, derived mathematical relationship among the pressure of the pneumatic muscle, tension and scale; According to the model of complete experimental analysis on these relationships above, finally master the basic characteristic of the pneumatic muscle. These works lay the foundation of the overall humanoid control system in the future.