McKibben型气动人工肌肉研究进展与趋势
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摘要
鉴于气动人工肌肉固有的结构特点导致其在运动过程中产生迟滞和蠕变等非线性现象,给其精确控制带来了极大的困难,而现有的气动人工肌肉的迟滞理论建模和控制策略尚存在诸多缺陷,阐述了气动人工肌肉运动过程中产生的一系列非线性现象及其原因,从气动人工肌肉静/动态特性建模、迟滞特性建模及控制策略等方面综述和分析其现有研究进展与成果。根据气动人工肌肉结构、迟滞建模和控制策略的发展趋势,给出了气动人工肌肉需要深入研究的方向和解决这些关键问题的途径。
Regarding to the problems of hysteresis,threshold pressure,creep,compliance and low bandwidth,the developments and achievements of the research on McKibben pneumatic artificial muscles at home and abroad were systemically reviewed.The state of art was summarized in terms of static/dynamic characteristics modelling,hysteresis modelling,and control strategies.The problems in recent research and the new development trends were analyzed.The pneumatic artificial muscle was developed towards high strength,integration and intelligence,while the hysteresis in the movement of pneumatic artificial muscle was the main factor restricted its extensive application.With the great progresses of hysteresis modelling approaches and parameter identification techniques,the compensation control strategies based on hysteresis models were further developed.With the increase of agency compliance requirements,the active compliance control of mechanism drove by pneumatic artificial muscle needed to be further studied,and how to realize the force control and ensure the accuracy of position control was the key research topic.
Regarding to the problems of hysteresis,threshold pressure,creep,compliance and low bandwidth,the developments and achievements of the research on McKibben pneumatic artificial muscles at home and abroad were systemically reviewed.The state of art was summarized in terms of static/dynamic characteristics modelling,hysteresis modelling,and control strategies.The problems in recent research and the new development trends were analyzed.The pneumatic artificial muscle was developed towards high strength,integration and intelligence,while the hysteresis in the movement of pneumatic artificial muscle was the main factor restricted its extensive application.With the great progresses of hysteresis modelling approaches and parameter identification techniques,the compensation control strategies based on hysteresis models were further developed.With the increase of agency compliance requirements,the active compliance control of mechanism drove by pneumatic artificial muscle needed to be further studied,and how to realize the force control and ensure the accuracy of position control was the key research topic.
引文
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