并行双驱动变刚度系统的设计理论与控制研究

项目名称： 并行双驱动变刚度系统的设计理论与控制研究

项目编号： No.51305460

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 王新庆

作者单位： 中国石油大学（华东）

项目金额： 23万元

中文摘要： 安全性是机器人与人接触交互中的关键因素。目前机器人采用的刚性设计、柔顺控制的策略已经无法满足安全性需求。幸运的是，人体关节的刚度可控性为解决这一问题提供了新途径。本项目通过人体关节驱动方式与刚度调节规律的解析，研究可控变刚度驱动系统的设计与控制问题。 本项目通过肌电电极、医学影像等方法检测关节的生物学特征参数，通过外骨骼机构检测运动学及力学特征参数，采用梯度下降参数辨识方法构建肘关节的生物力学模型，在此基础上，通过机器学习研究刚度实时估计方法，并构建负载试验装置研究关节刚度调节的性能评估方法。通过约束优化方法研究非线性弹性机构的机械创成，研究驱动、感知、控制的集成化设计方法，进而研制一种刚度调节范围宽、调节所需能量少的可变刚度驱动关节。研究非线性状态观测与反馈线性化技术，克服驱动元件冗余及柔性等对动力学建模的影响，解决刚度闭环控制与运动抖动问题。

中文关键词： 被动柔顺；变刚度；肌电信号；反步法；柔性关节

英文摘要： Safety is the key issue of physical human-robot interaction.At present,the strategy of rigid design plus active compliance can not fulfill the requirement of safty standards.Fortunately,the principle of variable stiffness of human joint provides a new solution.This project focused on analyzing the principle of joint actuation and stiffness regulation, research on the design and control of controllable variable stiffness actuation system. The biological parameters are measured through EMG electrodes and functional magnetic resonance imaging,the kinematic and mechanic parameters are measured by exoskeleton device.On the basis of the data acquired, the biomechanical model of elbow joint was established by gradient descent method, after that, a real-time stiffness estimation algorithom was developed.In order to study the discipline of stiffness regulation and evaluate its performance,a load test-bed was build. Furthermore, research on the mechanical construction of nonlinear spring mechanism through constrained optimization,and then research on the integration of actuation,sensing,and control. Finally, develop a variable stiffness joint with wide stiffness bandwidth and low energy consuming.In spite of all those above, research on the nonlinear state observer and feed-back linearization algorithm,so as to overco

英文关键词： passive compliance；variable stiffness；electromyography；backstepping；flexible joint