三自由度气动柔性驱动器结构功能与形变特性研究
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摘要
设计了一种采用伸长型气动人工肌肉的三自由度柔性驱动器,该驱动器的驱动装置与本体复合一体,主要由3根对称分布的人工肌肉并联组成。根据力和力矩分析,考虑了驱动器伸长量、弯曲方向和弯曲角度的综合影响,建立了驱动器伸长量、弯曲方向和弯曲角度的非线性理论模型。通过试验对理论模型进行了验证,获得了柔性驱动器在不同通气方式下的形变性能。结果表明:该柔性驱动器弯曲时近似圆弧状,具有较高灵活性,能够实现轴向伸长和空间内任意方向弯曲,可作为执行部件应用于农业机器人和果蔬采摘机械手等仿生机械上。
A type of 3-DOF flexible pneumatic actuator( FPA) employing elongation pneumatic artificial muscles was developed. It was mainly composed by three pneumatic artificial muscles symmetrically distributed in parallel and three artificial muscles were fixed 120° each other in space. The pneumatic artificial muscle was a closed cavity formed by the rubber tube and the end covers,and the outer side of it was thin sheet restraint rings set compacted. The elastic skeletons were added among the artificial muscles to improve the rigidity and stability of FPA. Specially,the driving device of FPA was just the body of the actuator. The FPA has the advantages of small volume,light weight and multiple degrees of freedom,and it can axially elongate and bend in any direction by controlling the input gas pressure of different artificial muscles. According to the force and torque analysis,the nonlinear theoretical model was developed to simultaneously describe the elongation,bending direction and bending angle of the FPA. Further,the theoretical model was verified by experiments,and then the deforming properties of FPA were obtained under different ventilation modes. The results showed that the FPA was in arc shape approximately when it was bent; it had high flexibility to elongate in axial direction or bend in any direction which had the similarity to the biological muscles in the body flexibility,movement and driving ability. In summary,this type of FPA can be as flexible fingers or flexible joints applied to fruit and vegetable picking manipulator or agricultural robot.
A type of 3-DOF flexible pneumatic actuator( FPA) employing elongation pneumatic artificial muscles was developed. It was mainly composed by three pneumatic artificial muscles symmetrically distributed in parallel and three artificial muscles were fixed 120° each other in space. The pneumatic artificial muscle was a closed cavity formed by the rubber tube and the end covers,and the outer side of it was thin sheet restraint rings set compacted. The elastic skeletons were added among the artificial muscles to improve the rigidity and stability of FPA. Specially,the driving device of FPA was just the body of the actuator. The FPA has the advantages of small volume,light weight and multiple degrees of freedom,and it can axially elongate and bend in any direction by controlling the input gas pressure of different artificial muscles. According to the force and torque analysis,the nonlinear theoretical model was developed to simultaneously describe the elongation,bending direction and bending angle of the FPA. Further,the theoretical model was verified by experiments,and then the deforming properties of FPA were obtained under different ventilation modes. The results showed that the FPA was in arc shape approximately when it was bent; it had high flexibility to elongate in axial direction or bend in any direction which had the similarity to the biological muscles in the body flexibility,movement and driving ability. In summary,this type of FPA can be as flexible fingers or flexible joints applied to fruit and vegetable picking manipulator or agricultural robot.
引文
1王燕,杨庆华,鲍官军,等.关节型果蔬采摘机械臂优化设计与试验[J].农业机械学报,2011,42(7):191-195.WANG Yan,YANG Qinghua,BAO Guanjun,et al.Optimization design and experiment of fruit and vegetable picking manipulator[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):191-195.(in Chinese)
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7 ZHANG J J,YIN Y H.SMA-based bionic integration design of self-sensor-actuator-structure for artificial skeletal muscle[J].Sensors and Actuators A:Physical,2012,181:94-102.
8 CHEN D H,USHIJIM K.Prediction of the mechanical performance of Mc Kibben artificial muscle actuator[J].International Journal of Mechanical Sciences,2014,78:183-192.
9 GREEF A D,LAMBERT P,DELCHAMBRE A.Towards flexible medical instruments:review of flexible fluidic actuators[J].Precision Engineering,2009,33:311-321.
10 TAKASHIMA K,ROSSITER J,MUKAI T.Mc Kibben artificial muscle using shape-memory polymer[J].Sensors and Actuators A:Physical,2010,164:116-124.
11 WICKRAMATUNGE K C,LEEPHAKPREEDA T.Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators[J].ISA Transactions,2013,52:825-834.
12 NUCHKRUA T,LEEPHAKPREEDA T.Fuzzy self-tuning PID control of hydrogen-driven pneumatic artificial muscle actuator[J].Journal of Bionic Engineering,2013,10(3):329-340.
13 SHI G L,SHEN W.Hybrid control of a parallel platform based on pneumatic artificial muscles combining sliding mode controller and adaptive fuzzy CMAC[J].Control Engineering Practice,2013,21(1):76-86.
14 ZHU X C,TAO G L,YAO B,et al.Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles[J].Automatica,2008,44(9):2248-2257.
15李尚会,杨庆华,鲍官军,等.基于FPA的新型气动柔性球关节的研究[J].浙江工业大学学报,2009,37(6):662-666.LI Shanghui,YANG Qinghua,BAO Guanjun,et al.Research on flexible pneumatic spherical joint based on FPA[J].Journal of Zhejiang University of Technology,2009,37(6):662-666.(in Chinese)
16 SUZUMORI K,IIKURA S,TANAKA H.Flexible microactuator for miniature robots[C]∥Proceedings of the 1991 IEEEWorkshop on Micro Electro Mechanical Systems,1991:204-209.
17 SUZUMORI K,IIKURA S,TANAKA H.Applying a flexible microactuator to robotic mechanisms[J].IEEE Control Systems,1992,12(1):21-27.
18 SUZUMORI K,MAEDA T,WATANABE H,et al.Fiberless flexible microactuator designed by finite-element method[J].IEEE/ASME Transactions on Mechatronics,1997,2(4):281-286.
19于莲芝,颜国正,马官营,等.一种柔性移动微小机器人系统的驱动力学特性分析[J].仪器仪表学报,2007,28(1):7-11.YU Lianzhi,YAN Guozheng,MA Guanying,et al.Analysis of actuating mechanics characteristics for a flexible miniature robot system[J].Chinese Journal of Scientific Instrument,2007,28(1):7-11.(in Chinese)
20 GENG D X,ZHAO J,ZHANG L,et al.Mechanical Properties analysis on elongation type of pneumatic artificial muscles[C]∥2nd International Conference on Mechanical,Industrial,and Manufacturing Technologies,2011:437-441.
21钟文彬,李柏林,晏星凡.预应力圆柱螺旋弹簧弯曲弹性特性研究[J].机械设计,2008,25(1):25-27.ZHONG Wenbin,LI Bailin,YAN Xingfan.Characteristic research on bending elasticity of prestressed cylindrical helical spring[J].Journal of Machine Design,2008,25(1):25-27.(in Chinese)
22 GENG D X,ZHAO J,ZHANG L.Study on bidirectional controllable flexible bending joints based on elongation artificial muscles[J].Applied Mechanics and Materials,2011,44-47:2883-2887.
2李国利,姬长英,顾宝兴,等.多末端苹果采摘机器人机械手运动学分析与试验[J/OL].农业机械学报,2016,47(12):14-21.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20161203&journal_id=jcsam.DOI:10.6041/j issn.1000-1298.2016.12.003.LI Guoli,JI Changying,GU Baoxing,et al.Kinematics analysis and experiment of apple harvesting robot manipulator with multiple end-effectors[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):14-21.(in Chinese)
3傅隆生,张发年,槐岛芳德,等.猕猴桃采摘机器人末端执行器设计与试验[J/OL].农业机械学报,2015,46(3):1-7.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20150301&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.03.001.FU Longsheng,ZHANG Fanian,GEJIMA Y,et al.Development and experiment of end-effector for kiwifruit harvesting robot[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(3):1-7.(in Chinese)
4 KORAYEM M H,RAHIMI H N,NIKOOBIN A.Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints[J].Applied Mathematical Modelling,2012,36(7):3229-3244.
5 HARAGUCHI D,TADANO K,KAWASHIMA K.Development of a pneumatically-driven robotic forceps with a flexible wris joint[J].Procedia CIRP,2013,5:61-65.
6 KORAYEM M H,RAHIMI H N,NIKOOBIN A.Flexible artificial muscle actuator using coiled shape memory alloy wires[J].APCBEE Procedia,2013,7:54-59.
7 ZHANG J J,YIN Y H.SMA-based bionic integration design of self-sensor-actuator-structure for artificial skeletal muscle[J].Sensors and Actuators A:Physical,2012,181:94-102.
8 CHEN D H,USHIJIM K.Prediction of the mechanical performance of Mc Kibben artificial muscle actuator[J].International Journal of Mechanical Sciences,2014,78:183-192.
9 GREEF A D,LAMBERT P,DELCHAMBRE A.Towards flexible medical instruments:review of flexible fluidic actuators[J].Precision Engineering,2009,33:311-321.
10 TAKASHIMA K,ROSSITER J,MUKAI T.Mc Kibben artificial muscle using shape-memory polymer[J].Sensors and Actuators A:Physical,2010,164:116-124.
11 WICKRAMATUNGE K C,LEEPHAKPREEDA T.Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators[J].ISA Transactions,2013,52:825-834.
12 NUCHKRUA T,LEEPHAKPREEDA T.Fuzzy self-tuning PID control of hydrogen-driven pneumatic artificial muscle actuator[J].Journal of Bionic Engineering,2013,10(3):329-340.
13 SHI G L,SHEN W.Hybrid control of a parallel platform based on pneumatic artificial muscles combining sliding mode controller and adaptive fuzzy CMAC[J].Control Engineering Practice,2013,21(1):76-86.
14 ZHU X C,TAO G L,YAO B,et al.Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles[J].Automatica,2008,44(9):2248-2257.
15李尚会,杨庆华,鲍官军,等.基于FPA的新型气动柔性球关节的研究[J].浙江工业大学学报,2009,37(6):662-666.LI Shanghui,YANG Qinghua,BAO Guanjun,et al.Research on flexible pneumatic spherical joint based on FPA[J].Journal of Zhejiang University of Technology,2009,37(6):662-666.(in Chinese)
16 SUZUMORI K,IIKURA S,TANAKA H.Flexible microactuator for miniature robots[C]∥Proceedings of the 1991 IEEEWorkshop on Micro Electro Mechanical Systems,1991:204-209.
17 SUZUMORI K,IIKURA S,TANAKA H.Applying a flexible microactuator to robotic mechanisms[J].IEEE Control Systems,1992,12(1):21-27.
18 SUZUMORI K,MAEDA T,WATANABE H,et al.Fiberless flexible microactuator designed by finite-element method[J].IEEE/ASME Transactions on Mechatronics,1997,2(4):281-286.
19于莲芝,颜国正,马官营,等.一种柔性移动微小机器人系统的驱动力学特性分析[J].仪器仪表学报,2007,28(1):7-11.YU Lianzhi,YAN Guozheng,MA Guanying,et al.Analysis of actuating mechanics characteristics for a flexible miniature robot system[J].Chinese Journal of Scientific Instrument,2007,28(1):7-11.(in Chinese)
20 GENG D X,ZHAO J,ZHANG L,et al.Mechanical Properties analysis on elongation type of pneumatic artificial muscles[C]∥2nd International Conference on Mechanical,Industrial,and Manufacturing Technologies,2011:437-441.
21钟文彬,李柏林,晏星凡.预应力圆柱螺旋弹簧弯曲弹性特性研究[J].机械设计,2008,25(1):25-27.ZHONG Wenbin,LI Bailin,YAN Xingfan.Characteristic research on bending elasticity of prestressed cylindrical helical spring[J].Journal of Machine Design,2008,25(1):25-27.(in Chinese)
22 GENG D X,ZHAO J,ZHANG L.Study on bidirectional controllable flexible bending joints based on elongation artificial muscles[J].Applied Mechanics and Materials,2011,44-47:2883-2887.