The invention discloses a drosophila larva imitating soft robot and a control system thereof. The robot comprises three body sections, each body section is composed of three bellows-shaped cavities and two fixed ends, and each cavity is provided with a hose. A main controller and auxiliary controllers of the control system communicate with each other through a UART, the main controller controls the power of an air pump through PWM, coordinates all the auxiliary controllers to control body segments, communicates with an upper computer, receives commands and displays current state information of the robot in real time. An air pressure sensor communicates with each auxiliary controller through an SPI, collects real-time air pressure values of each cavity and feeds back the real-time air pressure values to the auxiliary controllers, the auxiliary controllers control a power control board through IO to control on-off of the electromagnetic valves and control air input and output of each cavity, stable control over pressure is achieved through a PID algorithm, the pressure in the cavities is changed, the body sections can achieve different actions, and finally movement of the robot is achieved.
本发明公开了一种仿果蝇幼虫软体机器人及其控制系统,机器人包括三个体节,每个体节由三个波纹管状腔室和两个固定端组成,每个腔室均有一根软管。控制系统的主控制器和副控制器之间通过UART进行通信,主控制器通过PWM控制气泵的功率,并协调各个副控制器进行体节的控制,同时与上位机进行通信,接收命令及实时显示当前机器人的状态信息;气压传感器通过SPI与各个副控制器进行通信,采集各个腔室的实时气压值,并反馈至副控制器,由副控制器通过IO控制电源控制板进行电磁阀的通断控制,控制各个腔室的气体输入和输出,并采用PID算法实现对压力的稳定控制,改变腔室内的压力,能使体节实现不同的动作,最终实现机器人的运动。
Drosophila larva imitating soft robot and control system thereof
一种仿果蝇幼虫软体机器人及其控制系统
2021-11-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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