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

摘要： 针对形状记忆合金—电机复合驱动关节时滞非线性和多因素耦合影响关节运动精度的问题,提出一种以生物基因调控网络为基础的时空耦合模型。通过研究细胞的基因调控模型,分析了复合驱动关节位姿与力的反馈信息对关节运动状态的影响,结合基因调控网络的反馈机制和时空耦合特性,构造了复合驱动关节调控模型并推导出复合驱动关节俯仰运动和旋转运动的动力学方程。研究结果表明,基因调控网络时空耦合控制模型减小了关节俯仰和旋转运动的位置误差和速度误差,提高了运动控制精度。

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