| 气动肌肉驱动关节的输入整形研究 |
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| 引用本文： | 王祖温,隋立明,包钢. 气动肌肉驱动关节的输入整形研究[J]. 机械工程学报, 2005, 41(1): 66-70 |
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| 作者姓名： | 王祖温 隋立明 包钢 |
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| 作者单位： | 哈尔滨工业大学机电工程学院,哈尔滨,150001;哈尔滨工业大学机电工程学院,哈尔滨,150001;哈尔滨工业大学机电工程学院,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金资助项目(50085002)。 |
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| 摘 要： | 为解决气动肌肉驱动关节在阶跃信号输入下的运动存在残余振荡的问题,提出了输入整形法。对关节的三种整形输入方式的特点进行了理论分析和试验研究。试验结果表明,选择适当的输入时滞时间和幅值可以有效地减小关节运动的残余振荡。提出的方法实现简单,效果好。
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| 关 键 词： | 气动肌肉 输入整形 残余振荡 |
| 修稿时间： | 2004-03-09 |
RESEARCH ON INPUT SHAPING FOR THE JOINT ACTUATED BY PNEUMATIC MUSCLES |
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| Wang Zuwen,Sui Liming,BAO Gang. RESEARCH ON INPUT SHAPING FOR THE JOINT ACTUATED BY PNEUMATIC MUSCLES[J]. Chinese Journal of Mechanical Engineering, 2005, 41(1): 66-70 |
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| Authors: | Wang Zuwen Sui Liming BAO Gang |
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| Abstract: | To solve the problem of residual vibration of the joint actuated by pneumatic muscles under step input, input shaping method is introduced. Three methods to realize input shaping for the joint are analyzed, and experiments are carried. The experiment results showed that, choosing the delay time and the amplitude of the inputs properly can effectively reduce the residual vibration of the joint. The methods proposed are effective and can be realized easily. |
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| Keywords: | Pneumatic muscle Input shaping Residual vibration |
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