A Research On The Active And Passive Combined Vibration Reduction For The Crus Of Legged Robots And Its Implementation

The legged robots are designed by imitating the biological structure,which has many potential applications and occupies an important position in the field of robot re-search.But in the walking process of the legged robot will be affected by the reaction from the ground,which leads to the whole body will produce bottom-up vibration.The equipment on the upper platform of the robot will not work properly due to violent vi-bration,and the vibration will also limit the speed of the robot.Therefore,it is of great significance to study the active-passive vibration isolation technique to mitigate or sup-press the impact of the impact from the ground on the robot's upper platform of the calf vibration isolation platform.Combined with the structure of passive vibration reduction technology,adding active vibration reduction technology with voice coil motor actua-tor,applied to the foot robot caliper vibration reduction process,which proposed a new method to suppress the impact and attenuation of the robot upper body vibration.Firstly,the working characteristics of the vibrating calf are analyzed and the vi-bration calf model with friction model is designed.At the same time,the mathematical model of the actuator is established.The active and passive combined vibration reduc-tion control system with the above-mentioned vibration and acceleration of the platform and the position of the lower platform is constructed.The different vibration signals are used to control the vibration and anti-jamming ability of the system under passive vi-bration reduction and active and combined vibration reduction.Secondly,the virtual prototype model with friction disturbance is established by ADAMS to optimize the vibration suppression ability of the vibration platform.The voice coil motor model of ADAMS and MATLAB is designed,and the vibration accel-eration control algorithm of the upper body is taken as the control target.Thirdly,the control software system of the platform is designed,and the modular programming method is used to design and write the control system software in CCS6.0.Finally,The system control circuit is designed and the passive vibration reduc-tion experiment is carried out.On this basis,the active and passive combined vibration reduction experiments are carried out by using PID controller and auto-disturbance rejection controller respectively.The experimental results show that the active and pas-sive combined vibration reduction control based on auto disturbance rejection control is effective and the anti-jamming capability of the calf vibration reduction platform is improved,Which provides a new method for robot optimization.