气动人工肌肉伺服平台的建模  

Modeling of a servo platform driven by pneumatic artificial muscles

作　　者：朱笑丛[1] 陶国良[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2004年第8期1056-1060,共5页Journal of Zhejiang University：Engineering Science

摘　　要：为克服传统液压或电气驱动并联平台的不足,提出了将气动人工肌肉应用于并联伺服平台的驱动关节,实现平台位姿控制.通过对平台系统的运动学和动力学分析,结合气动人工肌肉的充气压力-伸缩力-伸缩比三者的关系,建立了气动人工肌肉并联伺服平台位姿控制系统的数学模型,并进行了计算机仿真.仿真结果表明,通过输入一定电压来控制气动人工肌肉的充气压力,可实现伺服平台的二自由度转动,而且系统运动平稳.同时分析了在相同输入电压和初始位姿条件下,不同惯性负载和力矩负载对伺服平台响应速度和稳态位姿的影响.所得模型及仿真分析为气动肌肉系统的高精度控制提供了理论基础.A parallel link servo platform driven by pneumatic artificial muscles is proposed for controlling the position of the platform to get rid of the disadvantages of traditional platform driven by hydraulic or electric units. The mathematical model of the controlled platform was achieved and simulated through kinematic and dynamic analysis of the platform and the nonlinear relations of the internal pressure, contractive force and contraction ratio of the pneumatic artificial muscles. The calculation results show that the platform with two rotation degrees of freedom can be realized by controlling the internal pressure of the pneumatic artificial muscles, and the movement of the system is smooth. Under the same conditions of controlling voltages and initial positions, the influences of the inertia loads and moment loads on the response speed and stable position of the platform are analyzed. The obtained model and simulation results provide the theoretical foundation for precisely controlling pneumatic artificial muscle system.

关 键 词：气动人工肌肉 伺服平台 数学模型 仿真 

分 类 号：TH138[机械工程—机械制造及自动化]