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Flexible mechanical arm and central pattern generator-based control method

A technology of flexible manipulator and pattern generator, applied in the field of manipulator

Pending Publication Date: 2020-10-02
SHANDONG FIRST MEDICAL UNIV & SHANDONG ACADEMY OF MEDICAL SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the central mode generator is not applied to the flexible manipulator to realize the autonomous movement of the manipulator

Method used

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  • Flexible mechanical arm and central pattern generator-based control method
  • Flexible mechanical arm and central pattern generator-based control method
  • Flexible mechanical arm and central pattern generator-based control method

Examples

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Embodiment 1

[0030] Such as Figure 1-2 As shown, this embodiment provides a flexible robotic arm, which includes a plurality of flexible modules sequentially connected along a set direction, and also includes a plurality of central mode generators coupled to each other.

[0031] Each flexible module includes an elastic shell, the inner cavity of the elastic shell is filled with working medium, the volume of each flexible module is constant, the elastic shell includes two transverse planes, and the extending direction of multiple flexible modules passes through the a transverse plane, two transverse planes connected by a longitudinal plane to form a closed elastic shell;

[0032] The central mode generator can individually control each flexible module to elastically deform along a set direction, and make the area of ​​the transverse plane and the longitudinal plane change in inverse proportion, thereby making the whole flexible manipulator move along the set trajectory.

[0033] In this e...

Embodiment 2

[0039] This embodiment provides a method for controlling a manipulator based on a central mode generator, which is used to realize the control of the flexible manipulator, including the following steps,

[0040] 1) According to figure 1 Structure, set the size of each module of the manipulator, and then determine the coordinates of the horizontal and vertical parts;

[0041] 2) figure 1 The mechanical arm mainly includes four kinds of forces, the first is the internal force F generated by the mechanical arm m ; The second is the vertical force F g ; The third is the pulling force F caused by the working medium w ; The fourth is the internal force F generated to keep the volume constant c . And then get the equation of motion:

[0042]

[0043] In formula (1), M is the mass matrix, and q is the position vector.

[0044] f g =(ρ arm -ρ medium )V arm g(2);

[0045] In formula (2), ρ arm is the density of the manipulator, ρ medium is the density of the working med...

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Abstract

The invention relates to a flexible mechanical arm and a central pattern generator-based control method. The flexible mechanical arm comprises a plurality of flexible modules which are connected in sequence in a set direction and a plurality of central pattern generators which are coupled with one another; each flexible module comprises an elastic shell; the inner cavity of each elastic shell is filled with a working medium; the volume of each flexible module does not change; the elastic shell comprises two transverse surfaces; the extending directions of the plurality of the flexible modulespenetrate through the transverse surfaces; the two transverse surfaces are connected to form the closed elastic shell through a longitudinal surface; and each central pattern generator can independently control the elastic deformation of each flexible module in the set direction and make the areas of the transverse surfaces and the corresponding longitudinal surface change in inverse proportion, so that the overall flexible mechanical arm moves in a set trajectory.

Description

technical field [0001] The disclosure belongs to the technical field of mechanical arms, and in particular relates to a flexible mechanical arm and a control method based on a central mode generator. Background technique [0002] Robot technology is an interdisciplinary research field integrating biomechanics, mechanics, mechanical mechanics, materials science, artificial intelligence and mathematical analysis. It is widely used in industrial production and other fields, and the control method of the manipulator is a research hotspot. . Movement is one of the basic functions of animals to maintain individual survival, one of which is rhythmic movement. The neural circuits that generate rhythmic movements are called central pattern generators, which are neural networks that generate rhythmic pattern outputs without sensor feedback. The central pattern generator generally has two functions, one is to generate basic rhythm signals, and the other is to form and coordinate move...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J9/16
CPCB25J9/08B25J9/1605B25J9/1664
Inventor 陆强田娟马振鹏
Owner SHANDONG FIRST MEDICAL UNIV & SHANDONG ACADEMY OF MEDICAL SCI
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