关键词: 复合驱动关节, 基因调控网络, 时空耦合, 形状记忆合金, 动力学方程

Abstract: For the problems that time-delay nonlinear and multi-factor coupling of SMA-motor compound drive joint affected the accuracy of joint motion,the model based on spatiotemporal coupling of biological gene regulatory network was proposed.By studying the gene regulation model of cell,the effect of feedback information with composite drive joint position and force on joint motion state was analyzed.Combining with the feedback mechanism and spatiotemporal coupling characteristics of gene regulatory network,the model of compound drive joint was solved and the dynamic equations of pitch motion and rotational motion of compound drive joint were derived.The results of the study showed that the position error and velocity error of joint pitch and rotation motion were reduced by the spatiotemporal coupling control model of gene regulatory network,and the accuracy of motion control was improved.

Key words: compound drive joint, gene regulatory network, spatiotemporal coupling, shape memory alloy, kinetic equation