基于气动柔性驱动器的侧摆关节特性  

Characteristics of side-sway joint based on flexible pneumatic actuator

作　　者：张立彬[1] 王志恒[1] 鲍官军[1] 钱少明[1] 杨庆华[1] 

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部重点实验室,杭州310032

出　　处：《农业工程学报》2009年第8期71-77,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家863高技术研究发展计划资助项目(009AA04Z209);国家自然科学基金资助项目(0575206);浙江省科学基金资助项目(Y1080485);浙江省机械电子工程重中之重学科开放基金项目(20090325)

摘　　要：基于气动柔性驱动器(FPA)提出了一种新型的气动侧摆关节,该关节用于农业机器人多指灵巧手设计。侧摆关节主要由两个FPA组成,向两个FPA内腔中通入不同压力的压缩气体,可以实现左右两个方向的侧摆运动。对单个FPA的自由端进行力平衡分析,建立了侧摆关节静态模型,并对模型进行简化。完成了侧摆关节静态特性试验,试验结果与仿真曲线基本吻合,验证了静态模型的正确性,但存在一定误差(最大静态误差为0.035rad),分析了误差原因;对侧摆关节进行了动态特性试验,试验结果表明对于不同的期望值角度阶跃信号,侧摆关节开环阶跃响应时间大约是2s(稳态值的公差带△=5%)。该侧摆关节可以明显改善农业机器人灵巧手的工作空间,进一步提高农业机器人灵巧手的适应性和灵活性。Based on flexible pneumatic actuator （FPA）, a new kind of flexible pneumatic side-sway joint was proposed. The side-sway joint is used for designing agricultural dexterous robot multi-fingered hand. The side-sway joint is basically composed of two FPAs. When the two FPAs were inflated with different compressed air pressure, the side-sway joint could realize left and right movement. The force equilibrium equation of the FPA flee end was established. The static model of the side-sway joint was obtained, and the static model was also simplified. Experiments were carried out to verify the static model. Experimental results show that the experimental curve matched well with the simulated curve, and there was certain error between them （maximal static error is 0.035 rad）. The error cause was analyzed. Then the experiments were carried out to measure the dynamic performances of the side-sway joint. Experimental results show that the step response time of the joint was about 2 s （steady value＇s tolerance zone △=5%） respected to different expected angle step signals. The side-sway joint can significantly increase the workspace and further improve the adaptability and dexterity of the agricultural dexterous robot hand.

关 键 词：关节 驱动器 模型 机器人 多指灵巧手 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]