Study on the Musculoskeletal Bionic Flexible Body for Walking Robot
For quadruped animal,the trunk with flexibility spine is obviously observable.The body structure is important for the quadruped robot.Based on the trunk bending principle of the quadruped animal with spinning gait,a kind of musculoskeletal bionic flexible body driven by pneumatic artificial muscles (PAM) was presented.The kinematics of the bionic flexible body was analyzed by geometric method,and the relationships between the PAM length and body bending angle was derived.The bending dynamics of the rigid-flexible coupling body mechanism was analyzed by the moment of momentum theorem.Finally,the bending dynamics of the bionic body was verified by virtual prototype simulation.The study on the bionic flexible body will improve the mobility for the quadruped robot walking in the unstructured environment.
Musculoskeletal Bionic Flexible Body PAM Dynamics Bending Mechanism Rigid-Flexible Coupling
Jingtao Lei Huangying Yu
School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China
国际会议
天津
英文
1-5
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）