Design, analysis, and neural control of a bionic parallel mechanism

doi:10.1007/s11465-021-0640-8

Frontiers of Mechanical Engineering

2021, Vol. 16

Issue (3): 468-486 https://doi.org/10.1007/s11465-021-0640-8

本期目录

Design, analysis, and neural control of a bionic parallel mechanism

Yaguang ZHU^1,^2,³(

), Shuangjie ZHOU¹, Manoonpong PORAMATE^3,⁴, Ruyue LI‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬¹

¹. The Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China
². State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
³. Embodied Artificial Intelligence & Neurorobotics Laboratory, SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute, The University of Southern Denmark, Odense 5230, Denmark
⁴. The College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; The School of Information Science & Technology, Vidyasirimedhi Institute of Science & Technology, Rayong 21210, Thailand

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Abstract：

Although the torso plays an important role in the movement coordination and versatile locomotion of mammals, the structural design and neuromechanical control of a bionic torso have not been fully addressed. In this paper, a parallel mechanism is designed as a bionic torso to improve the agility, coordination, and diversity of robot locomotion. The mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and running. The overall spatial motion performance of the parallel mechanism is improved by optimizing the structural parameters. Based on this structure, the rhythmic motion of the parallel mechanism is obtained by supporting state analysis. The neural control of the parallel mechanism is realized by constructing a neuromechanical network, which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion patterns. Experimental results show that the complete integrated system can be controlled in real time to achieve proper limb–torso coordination. This coordination enables several different motions with effectiveness and good performance.

Key words： neural control behavior network rhythm motion pattern

收稿日期: 2021-01-05 出版日期: 2021-09-24

Corresponding Author(s): Yaguang ZHU

引用本文:

. [J]. Frontiers of Mechanical Engineering, 2021, 16(3): 468-486.
Yaguang ZHU, Shuangjie ZHOU, Manoonpong PORAMATE, Ruyue LI‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬‬. Design, analysis, and neural control of a bionic parallel mechanism. Front. Mech. Eng., 2021, 16(3): 468-486.

链接本文:

https://academic.hep.com.cn/fme/CN/10.1007/s11465-021-0640-8
https://academic.hep.com.cn/fme/CN/Y2021/V16/I3/468

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