气动人工肌肉特性实验与数学模型研究

为了提高气动人工肌肉数学模型精度,增强其实用性,对气动人工肌肉的各工作特性参数进行实验研究,构建描述气动人工肌肉特性的实验数学模型．建立气动人工肌肉静特性实验系统,对气动人工肌肉的各工作特性指标进行测量．通过最小二乘法,将充气压力、负载以及收缩比用系数矩阵有机结合起来,建立气动人工肌肉的实验数学模型．对于某一气动人工肌肉来说,所构建的工作特性模型具有普遍性,因此,给出的结论对以气动人工肌肉为驱动元件的控制系统设计及实现精确控制具有重要意义．

Study on characteristic experiments and mathematical model of the pneumatic artificial muscle

In order to improve the accuracy of mathematical model of pneumatic artificial muscles(PAM) and enhance its usefulness, the experimental study has been carried out to test the working characteristics parameters of pneumatic artificial muscles, and experiment on mathematical model of describing characteristics of pneumatic artificial muscle was built. The static experimental system was set up for the characteristics of pneumatic artificial muscle, and the working characteristics of pneumatic artificial muscles for various indicators were measured. By least square method, the inflation pressure, load, and contraction ratio were combined with coefficient matrix organically and the experiment mathematical model of pneumatic artificial muscle was established. For a certain pneumatic artificial muscles, the built model is universal. Therefore, the conclusions have important significance for the control system design and implementation of accurate control of pneumatic artificial muscles．