气动肌肉驱动关节的输入整形研究  

RESEARCH ON INPUT SHAPING FORTHE JOINT ACTUATED BYPNEUMATIC MUSCLES

作　　者：王祖温[1] 隋立明 包钢[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《机械工程学报》2005年第1期66-70,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50085002)。

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。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.

关 键 词：气动肌肉 输入整形 残余振荡 

分 类 号：TH138[机械工程—机械制造及自动化]