基于气动肌肉仿人肩关节的运动控制  

Design of a Bionics Shoulder Joint Driven By Pneumatic Muscle Actuators

作　　者：洪熠[1] 施光林[1] 

机构地区：[1]上海交通大学机电控制与物流装备研究所,上海200240

出　　处：《机械与电子》2009年第4期62-65,共4页Machinery & Electronics

摘　　要：设计了一种使用气动人工肌肉作为驱动器的仿人肩关节实验装置;介绍了气动肌肉对拉关节的原理,设计了仿人肩关节的机械结构,使用PLC、角度位移传感器及高速开关阀搭建了实验装置的气动回路及控制系统,并在此基础上实现了3个自由度的闭环位置控制.实验结果表明所设计的仿人肩关节具有较好的定位运动控制效果.This paper designs a bionics shoulder joint which driven by pneumatic muscle actuators （PMA）. First the paper introduces the principle of driving rotating joints with PMA. Based on this principle the paper designs the mechanical structure of the bionics shoulder joint. The paper also builds the control system and pneumatic system which based on PLC, high - speed on/off valves and angle sensors. At last some experiments are carried on the whole system to study the closed loop control of the rotating joint and the motion control effect of the three degrees- of- freedom. The result shows that PMA could be well used in the design of robotic arm.

关 键 词：气动肌肉 仿人手臂 PLC 高速开关阀 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]