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设计和机器学习模拟一个多度自由度的生物气动软执行器
Yu Zhang1, Linghui Peng1, Wenchuan Zhao1
1College of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China.
Biomimetics (Basel, Switzerland)
|September 26, 2025
概括
一个新的生物软气动执行器 (SPA),模仿海.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
- 材料科学 材料科学 材料科学
背景情况:
- 软气动执行器 (SPA) 为需要复杂运动和合规性的应用提供了独特的优势.
- 传统的建模方法与复杂的SPA结构固有的非线性动态作斗争.
- 受自然系统启发的生物设计为先进的执行器开发提供了有前途的途径.
研究的目的:
- 提出和开发一款具有多个自由度的新生物软气动执行器 (SPA),灵感来源于海的肩关节.
- 调查使用开发的SPA.在三维空间中恢复海翅膀肢体多模式运动的可行性.
- 为了应对复杂SPA结构的非线性行为建模的挑战.
主要方法:
- 该SPA是使用斜腔执行装置组构建的,可实现全向曲和双向扭曲.
- 使用高精度的惯性测量单元 (IMU) 来从每个执行轴中实时提取位置信息.
- 使用六种机器学习方法来建模SPA的态度输出,重点是确定表现最佳的模型.
主要成果:
- XGBoost机器学习模型在态度建模中表现出卓越的性能,达到0.974.97的R平方值.
- 在XGBoost模型中,滚动 (1.315°),俯冲 (1.543°) 和俯冲 (1.048°) 轴的平均绝对误差很低.
- 开发的SPA成功满足了生物体海肩关节的要求,通过变形能力,执行性能和水下实验进行验证.
结论:
- 拟议的生物SPA准确地建模并实时预测多轴态度,克服了传统建模的局限性.
- 该SPA的设计和性能与海肩关节的功能要求保持一致,使复杂的3D运动成为可能.
- 这项研究为开发和控制复杂的多度自由度SPA系统建立了新的理论基础和技术途径.
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