Research on 2-DOF Antagonistic Bionic Flexible Manipulator*

A flexible actuator with variable stiffness was improved in this study, and a 2-DOF flexible manipulator was designed based on the principle of antagonistic motion. To solve the problem of joint redundancy drive, we focused on the position control, stiffness control and position/stiffness decoupling control strategy of antagonistic bionic manipulator. Based on the Lagrange equation, the joint dynamics model was established, and the control model of the joint position and stiffness of the antagonistic bionic joint was proposed. The traditional PID control theory was used to simulate and verify the effectiveness of the above control strategy. Experiments were carried out on the manipulator to verify the rationality of the structure and control model of the manipulator. The experimental results show that the manipulator can achieve more accurate displacement operation under various stiffness conditions according to the control strategy proposed in this paper, and flexible joints can effectively adjust the stiffness and position of the joints when subjected to external loads. The impact can be weakened when collision occurs.