Developing the Mathematical Model of the Bipedal Walking Robot Executive Mechanism

摘要

The paper considers the accuracy of footstep control in the vicinity of the application object. The methodology of forming a simulation of the executive electro-hydraulic servomechanism is developed. The paper presents control algorithms in the dynamic walking mode. The issues of stabilization of the sensors installed in the soles are investigated. The description of the laboratory model and simulation of the main links of the exoskeleton, approximated to human parameters, allowing to insert the studied algorithms of motion of the executive mechanism into the program of automation of calculations of the links of motion are given. The authors for the first time simulated the bipedal walking robot using modern digital technologies, including the joint use of pneumatic electric drive. This paper proposes an automated control scheme for manipulators controlling immobilized human limbs. Considering the functions of the leg and the phases of movement, the structure scheme is chosen so that the same actuator performs several functions. This construction partially reduces the load on the person, because the drives of the various links due to their gravity can overturn a person. Using the kinematic structure of the model and the method of adaptive control of the manipulator, as well as replacing some movement parts with plastic material, the authors were successful in reducing the total weight by three times compared with foreign analogues, which is important for a sick person.