气动肌肉仿生关节建模与机构优化设计仿真
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摘要
关于机器人关节动态设计优化问题,机器人关节机构应随仿生特性要求而变化。建立了拮抗安装气动肌肉驱动的关节模型,通过齐次坐标变换建立了气动肌肉伸缩量与关节转角之间的精确模型。提出了4个约束条件,定义了关节有效摆动角度。为分析不对称和不等高机构对转动角度、速度及加速和控制精度的影响,利用MATLAB编程进行了3组参数下的摆动仿真,对比了关节轨迹曲线,并分析了各约束条件的强弱。针对人手臂关节,优化设计了仿生肩和肘关节。与传统方案对比表明,优化设计的仿生肘关节转角范围更广;肩关节加速性能更好;仿生关节性能特性更接近人类上肢体运动特点。
This paper pointed out that bionic joint mechanism should be altered to meet different needs.It also established the model of pneumatic muscle-based antagonistic actuation.According to the model,this paper obtained the relationship between the joint rotating angle and the contraction accurately,and defined the effective rotating angle of the bionic joint.This paper paid attention to the constraint conditions in the process of turning the bionic joint,and compared the strengths of these conditions.The author analyzed the affection of unsymmetrical mechanism with different heights on maximal and minimal angles,velocity,acceleration and control precision by the simulation of 3 groups of parameters using MATLAB.Bionic shoulder and elbow joints were optimally designed.The simulation results show that,compared with traditional scheme,the corner of bionic elbow joint designed in this paper is boarder,accelerating performance of the shoulder is better,and its characteristics are more close to the swing of human body joint.
This paper pointed out that bionic joint mechanism should be altered to meet different needs.It also established the model of pneumatic muscle-based antagonistic actuation.According to the model,this paper obtained the relationship between the joint rotating angle and the contraction accurately,and defined the effective rotating angle of the bionic joint.This paper paid attention to the constraint conditions in the process of turning the bionic joint,and compared the strengths of these conditions.The author analyzed the affection of unsymmetrical mechanism with different heights on maximal and minimal angles,velocity,acceleration and control precision by the simulation of 3 groups of parameters using MATLAB.Bionic shoulder and elbow joints were optimally designed.The simulation results show that,compared with traditional scheme,the corner of bionic elbow joint designed in this paper is boarder,accelerating performance of the shoulder is better,and its characteristics are more close to the swing of human body joint.
引文
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[2]Wang Binrui,Zhou Weiyi,Jin Yinglian,Xu Hong,Ke Haisen.Modeling and Characteristics Analysis of Intelligent PneumaticMuscle with Shape Memory Alloy Braided Shell[C].2009 Interna-tional Asia Conference on Informatics in Control,Automation andRobotics,1-2 Feb 2009:3-7.
[3]王斌锐,周唯逸,许宏.形状记忆合金编织网气动肌肉的驱动特性[J].中国机械工程,2009,20(4):467-471.
[4]D Shin,X Yeh and O Khatib.Variable radius pulley design meth-odology for pneumatic artificial muscle-based antagonistic actua-tion systems[C].Intelligent Robots and Systems(IROS),2011IEEE/RSJ International Conference on,25-30 Sept.2011:1830-1835.
[5]J H Lilly.Adaptive tracking for pneumatic muscle actuators in bi-cep and tricep configurations[J].Neural Systems and Rehabilita-tion Engineering,IEEE Transactions on,2003,11(3):333-339.
[6]C Tae-Yong,S Joon-Hong,L Ju-Jang.Safe robot with artifi-cial pneumatic muscle[C].Industrial Electronics,2009.ISIE2009.IEEE International Symposium on,5-8 July 2009:1434-1439.
[7]A Ho Pham Huy.Online tuning gain scheduling MIMO neural PIDcontrol of the 2-axes pneumatic artificial muscle(PAM)robotarm[J].Expert Systems with Applications,2010,37(9):6547-6560.
[8]隋立明.气动人工肌肉驱动关节的特性及其在仿人臂中的应用研究[D].哈尔滨工程大学,2005.
[9]C Ming-Kun.An adaptive self-organizing fuzzy sliding modecontroller for a 2-DOF rehabilitation robot actuated by pneumaticmuscle actuators[J].Control Engineering Practice,2010,18(1):13-22.
[10]J Craig(美).机器人学导论[M].北京:机械工业出版社,2005.
[11]K Hosoda,T Takuma,A Nakamoto.Design and Control of 2DBiped that can Walk and Run with Pneumatic Artificial Muscles[C].Humanoid Robots,2006 6th IEEE-RAS InternationalConference on,4-6 Dec.2006:284-289.
[12]S Q Xie,P K Jamwal.An iterative fuzzy controller for pneumaticmuscle driven rehabilitation robot[J].Expert Systems with Ap-plications,2011,38(7):8128-8137.
[13]C Ching-Ping,B Hannaford.Measurement and modeling ofMcKibben pneumatic artificial muscles[J].Robotics and Auto-mation,IEEE Transactions on,1996,12(1):90-102.
[14]乔立,苏鸿根.基于分运动叠加的个性化虚拟人步行姿态研究[J].计算机工程与设计,2004,25(1):126-138.
[15]GB10000-88.中国成年人人体尺寸[S].1988.
[16]沈伟,施光林,周爱国.气动肌肉主动悬架系统的仿真模型与分析[J].计算机仿真,2004,21(6):162-166.