气动人工肌肉驱动灵巧手的设计与研究

针对气动人工肌肉推广应用的问题,提出了一种轻小型气动人工肌肉的制作方案,并对其不同压力下的力学性能进行了试验和测试。试验结果表明,该气动人工肌肉具有高收缩率和大输出力的特性。基于该气动人工肌肉的运动特性,设计了一款欠驱动的多自由度灵巧手,并进行了多项抓取实验,验证了其多种状况下的工作能力。基于气动人工肌肉的灵巧手具有适应性强和抓取力大的特点,对气动人工肌肉的应用和机器人末端执行器的开发具有参考价值。     

一种新型气动执行元件--气动人工肌肉

气动人工肌肉是一种结构简单、功率自重比大、有良好柔性、不会损害操作对象的新型气动执行元件。概述了气动人工肌肉的研究现状，分析了气动人工肌肉的优缺点和应用中存在的问题。在此基础上，指出目前气动人工肌肉的研究尚处于起步阶段，并给出了其有待进一步研究的方向。介绍了一些气动人工肌肉的应用实例。     

McKibben气动人工肌肉技术的发展历程

气动人工肌肉也称气动橡胶驱动器,是一种具有良好柔性、出力/重量比大的新型气动执行器.文中主要针对McKibben气动人工肌肉概述了国内外的研究现状,分析了McKibben气动人工肌肉的优缺点和应用中存在的问题.并举出了一些利用McKibben气动人工肌肉用在仿生机械中的应用实例.     

气动人工肌肉系统动态特性研究

提出将气动人工肌肉视为带有弹性负载的变截面气缸的观点，方便地建立了气动人工肌肉系统动态数学模型。将气动人工肌肉的工作过程划分为等客充气、充气收缩、排气伸长和等容排气四个部分，通过仿真和实验研究对气动人工肌肉进行了特性分析。实验结果表明了所建立的动态数学模型的正确性，为气动人工肌肉应用研究奠定了基础。     

气动人工肌肉的研究及应用进展探析

简要回顾了气动人工肌肉的发展历程,重点总结了近几年来气动人工肌肉在模型及特性、控制模式、实际应用、生产制造技术方面的研究情况,分析了气动人工肌肉的发展前景,最后对其研究发展方向提出了一些建议.     

自制气动人工肌肉的基本特性研究

气动人工肌肉的基本特性可以用等压特性、等长特性来描述,可通过气动人工肌肉静态特性实验对其特性进行研究.本文设计了气动人工肌肉静态特性实验系统,对自制的气动人工肌肉的特性进行了研究.通过实验表明对气动人工肌肉静态数学模型理论分析的正确性以及自制的气动人工肌肉的实用性,为气动人工肌肉进一步的研究奠定了基础.     

Mckibben气动人工肌肉在爬升和爬行机器人中的应用

Mckibben气动肌肉是一种使用比较广泛的气动人工肌肉，该文介绍了Mckibben气动肌肉的基本特性，分析了Mckibben气动肌肉在爬升和爬升机器人中的应用优势，并给出一些应用实例，最后指出了Mckibben气动肌肉在应用到爬升和爬行机器人时要克服的一些困难。     

基于CMAC的气动人工肌肉变结构位置控制研究

气动人工肌肉是一种具有功率自重比/功率体积比大、响应快的新型气动元件,近年来已引起了人们广泛关注。然而,由于难于实现气动人工肌肉系统的精确控制,从而阻碍了其更加广泛的应用。在气动人工肌肉动态数学模型的基础上,提出采用基于CMAC的气动人工肌肉两层滑模变结构控制方法。CMAC神经网络用于学习气动人工肌肉系统的不确定信息,并作为前馈补偿使跟踪误差快速收敛,通过变结构控制消除网络的学习误差和不可重复随机干扰的影响,确保系统鲁棒性。试验结果表明了该方法的有效性和系统的鲁棒性。     

新型气动人工肌肉在仿生关节中的应用

气动人工肌肉作为一种新型的驱动装置,以其简单的设计和独特的仿生性一直受到人们的关注,自问世以来,人们对它的研究方兴未艾。该文根据气动人工肌肉的构造、原理和特点,谈谈气动人工肌肉在仿生关节中的应用及其发展前景。     

基于Mckibben气动人工肌肉预紧力的研究

气动人工肌肉是气动发展史上的一个新的里程碑,该文基于对Mckibben气动人工肌肉预紧力的研究,并将气动人工肌肉在恒压恒体积状态下视为"气弹簧",通过对气动人工肌肉在有无预紧力状态下的试验曲线进行对比、分析,得出了在预紧力状态下气动人工肌肉具有更大的输出力和更佳的动态特性,为进一步的研究提供了依据.     

气动人工肌肉

本文介绍了人工肌肉的产生背景,分析了生物肌肉的特性,概述了国内外对人工肌肉的研究状况,并举出了一些利用气动人工从的应用实例。     

仿人型机器人腿的探讨

提出一种用气动人工肌肉驱动的仿人型机器人腿。首先描述了气动人工肌肉的结构与工作原理，人工肌肉具有变刚度特性，它的刚度可通过控制橡胶管内的气压实现，调节管内气压的大小就可改变肌肉的刚度。它的刚度大小决定肌肉的驱动力。然后提出了用气动人工肌肉驱动的机器人腿的结构形式以及机器人腿的摆动控制方式，腿的驱动力和行走运动全由工控机控制实现。     

FORCE FEEDBACK DATAGLOVE BASED ON PNEUMATIC ARTIFICIAL MUSCLES

An exoskeleton force feedback dataglove is developed, which uses the pneumatic artificial muscles as actuators. On the basis of the simplified hand model, the motion equation is deduced according to the theory of Denavit-Hartenberg. The model of the equivalent contact forces exerted by the object on the finger is proposed. By the principle of virtual work, the static equilibrium of finger is established. The force Jacobian matrix of finger is calculated, and then the joint torques of the finger when grasping objects are obtained. The theory and structure of the force feedback datagolve are introduced. Based on the theory of motion stabilization of four-bar linkage, the flexion angles of joints are measured. The torques on finger joints caused by the output forces of pneumatic artificial muscles are calculated. The output forces of pneumatic artificial muscle, whose values are controlled by its inner pressure, can be calculated by the joint torques of the finger when grasping objects. The arms of force, driving torques and the needed output forces of pneumatic muscle are calculated for each joint of the index finger. The criterion of output force of pneumatic muscle is given.     

Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. However, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the independent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the simulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.     

NONLINEAR MODELING AND CONTROLLING OF ARTIFICIAL MUSCLE SYSTEM USING NEURAL NETWORKS

The pneumatic artificial muscles are widely used in the fields of medical robots, etc. Neuralnetworks are applied to modeling and controlling of artificial muscle system. A single-joint artificialmuscle test system is designed. The recursive prediction error (RPE) algorithm which yields fasterconvergence than back propagation (BP) algorithm is applied to train the neural networks. Therealization of RPE algorithm is given. The difference of modeling of artificial muscles using neuralnetworks with different input nodes and different hidden layer nodes is discussed. On this basis thenonlinear control scheme using neural neworks for artificial muscle system has been introduced. Theexperimental results show that the nonlinear control scheme yields faster response and higher controlaccuracy than the traditional linear control scheme.     

基于气动人工肌肉的六自由度运动平台

实现六自由度机构准确、稳定运动控制的关键在于执行元件的控制特性以及动力学模型的准确表达。在分析一般六自由度平台特性的基础上,建立了气动人工肌肉双三角六自由度并联运动平台,运用Matlab进行运动学分析,生成机构运动空间。对所建模型进行运动模拟,根据仿真计算数据得到气动人工肌肉的运动特性,进而提出控制方法。     

Low-pressure pneumatic muscles: development,phenomenological modeling,and evaluation in assistive applications through sEMG analysis

Compliant actuators have received much attention from researchers over the last two decades. Specifically, pneumatic artificial muscles (PAMs) have been used in several human-in-loop assistive and rehabilitative devices due to their inherent behavior resembling biological muscles. We presented a lucid customizable fabrication process to develop low-pressure actuated PAMs, named pneumatic silicone tube artificial muscles (pSTAMs), and to cater activity-specific actuator requirements. Two constructions of pSTAMs with varying lengths were rigorously experimented at different pressure-load conditions for their isobaric static and stiffness characterizations. Estimation of bandwidth and use of empirical correction factors in the conventional analytical models for quasi-static characterization of pSTAMs were demonstrated. Lumped parameter-based phenomenological model was employed to closely model their dynamic characteristics. A detailed integrated electromyography analysis with surface electromyography signals from the targeted muscle groups was performed to determine the efficacy of using pSTAMs in two activities.

     

空气压橡胶人工肌驱动器的特性和控制

本文讨论了空气压橡胶人工肌驱动器的基本特征和控制方法,对发展新型驱动器的机器人技术有积极意义。     

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.     

基于伪刚体模型的腰部训练装置的运动学分析

考虑到康复运动过程中康复患者对康复机器人的作用,康复机器人的设计过程中将康复患者的康复部位作为其一部分进行设计和分析。将腰部考虑成柔性杆,并将其作为气动人工肌肉驱动的腰部训练装置的一部分进行分析。对腰部训练装置进行了结构介绍并分析了腰部在腰部训练装置中的作用,给出了腰部训练装置的运动学模型。对腰部训练装置进行了受力分析,结合腰部训练装置的功能对气动人工肌肉组件进行了设计和受力分析,使用伪刚体模型对腰部进行受力分析,得到了腰部脊柱与康复腰带结合点的受力结果,基于此对腰部训练装置整体进行受力分析,得到腰部训练装置中康复腰带与气动人工肌肉组件之间受力的关系。通过仿真验证了运动学分析和受力分析结果的正确性,并根据腰部训练装置的力学分析及仿真结果,进一步设计并搭建气动人工肌肉和柔索混合驱动并联腰部康复机器人试验平台。