Research On Big Damping Underactuated Continuous Brachiation Control Of Bionic-ape Robot With Dualarm Hands

In bionic robotics research,primates' brachiation model,a non-linear,underactuated and nonholonomic constraint system,has attracted much attention of scholars.Apes and other primates are able to brachiate flexibly between the branches.After long-term's evolution,apes can control their swing posture and convert the kinetic energy and the potential energy freely.In order to explore the mystery of the apes' superior brachiation,realize the underactuated robot continuous movement under the non-continuous support or in outer space environment,this paper studies the control strategy and method of full –automatic big damping underactuated continuous brachitaion of bionic-ape robot with dual-arm hands.Based on the understanding of primate's brachiation,our lab introduces big damping underactuated grasping strategy into the grasping phase of bionic-ape robot with dualarm hands.The continuous brachiation of the robot is devied into the self-starting swing up pahse,the transition big damping grasping phase,the configuration adjustment phase,the periodical swing locomotion phase and the stop phase.The positive and inverse kinematics of the robot in underactuated big damping state is analyzed.The dynamics model of an underactuated 4-link robot is established.The kinematics and dynamics of the robot is analyzed.The control model and control strategy of each phase of the robot is proposed.To estimate the reliability of grasping bars for brachiation robot,the turn-back speed's effect on grasping stability is analyzed base on Lyapunov stable theory.A stability judgement is established in grasping phase.On account of expand the grasping range of the grasping phase,a four-link coordinated grasping control method is proposed.Based on the optimal control theory,the solution of the actuated joint velocity minimum meanwhile underactuated joint swing amplitude maximum is proposed.According to the geometric relations,the configuration adjustment conditions are discussed in the configuration adjustment phase and the loose hold phase.Switch conditions that used to switch between different controllers for different phase is designed to ensure the stability when the controller is switched.An integrated controller is designed to realize the fully automatic control of the bionic-ape robot with dual-arm hands.The ADAMS-Simulink virtual prototype is set up for continuous brachitaion.The 0.4m and 0.6m distance locomotion simulation results show that the proposed method can achieve a flexible switch between different motion phases.The four-link coordinated grasping control method greatly imropve the grasping range.The robot realizes the ability once swing and grasp target bar.The stability judgement is verified useful in predict if the robot can grasp the target bar.Therefore,the proposed control strategy is validated.