Reasearch On Modular Joint Of Humanoid Robot And The Control System Based On Tendon Driven

The research on the mechanical arm has a long history,but it is mainly used in the large-scale robot in industrial production,while the research on the mechanism of robot arm is relatively small.People are constantly looking for a transmission that is similar to the human muscle,and now the research is mainly about hydraulic muscles,pneumatic muscles,and so on,and these artificial muscles have their own disadvantages.This dissertation mainly studies a tendon-drive system based on wire rope,and realizes the precise control of the system.Found in the study of tendon transmission system,the flexible of the system and drive back to the empty is temporary factors known to affect the system control performance,aiming at these defects,design a suitable controller to get a better control performance of the system.The dissertation firstly studied the typical form of soft cable tendon transmission,and analogy gear backlash in the model,analyzing the mathematical model of the backlash phenomenon of tendon transmission,choosing a backlash model which is suitable for the system,and analyze the causes of the rope driven backlash.In this dissertation,a modular joint with system design index is designed,and the mechanical arm and shoulder tendon transmission system is designed.Aiming at the transmission system,the influence of the system's flexibility and the transmission backlash is mainly solved.For the realization of the system performance of transmission,the first to conduct dynamic modeling analysis.,and analyzed the design methods of PID controller and the backstepping adaptive controller,mainly studied the backstepping adaptive controller for system controller design,the use of the controller better solved the system flexible,and the influence of the backlash.In this dissertation,the control strategies are analyzed in the simulation,compared the control performance of PID controller and the backstepping controller,theoretically verified the backstepping adaptive controller have a good control effect on the system of flexible and backlash.In the end,this dissertation verifies the relevant performance of the experimental system platform,and conducts relevant experimental verification for the controller designed by the backstepping method.By analyzing the experimental results,the backstepping adaptive controller has good performance in the transmission of the actual system.