气动人工肌肉上肢仿生关节设计  

Design of Upper Limb Bionic Joint Driven by Pneumatic Artificial Muscles

作　　者：项超群[1] 杨辉[1] 柳强[1] 胡理通 郝丽娜[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《液压与气动》2014年第3期101-104,共4页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51075066);国家高技术研究发展计划项目(2008AA04Z305)

摘　　要：气动系统以其具有结构简单、无污染、维修方便等优点,得到越来越广泛的应用。基于人体的拮抗肌对拉驱动原理,利用气动人工肌肉(PAM)驱动器,设计了三自由度(3-DOF)的仿生关节。在Adams环境下建立关节模型虚拟样机,并对其进行了运动仿真。仿真结果表明,该仿生关节结构运动曲线平滑、运动平稳、柔顺性好,满足设计要求。除此之外,对加工出的原理样机进行了可行性实验验证,绕X轴的旋转实验表明:a.当充气压力越大,前臂平台转角速度越快,b.当充气压力在0.2 MPa及以上时前臂平台转角达到所需角度。绕Z轴的转角实验表明,前臂圆盘的转角范围为可达所需角度,验证了机构的可行性。Pneumatic systems which have the advantages of simple structure, no pollution and easy maintenance have gained more and more popularity. Based on the principle of antagonist muscle, a 3 - DOF bionic elbow joint is actuated by pneumatic artificial muscle （PAM）. In the environment of ADAMS, a virtual prototype of the joint model was established, and the motion simulation has been done. The simulation results show that the motion of bionic joint is smooth and steady, and it has a good flexibility, which can meet the design requirements. Besides, experimental verification was carried out on the principle prototype, and experiment of rotation of bionic joint a- round the X axis shows ： a. the higher inflation pressure is applied on the PAM, the quicker the platform of forearm will rotate; b. when inflation pressure is greater than or equal 2bar, the rotation angle of platform of forearm will meet the requirements. Experiment of rotation of bionic joint around the Z axis shows the rotation angle of the fore- arm platform can meet the requirements, which verify the feasibility.

关 键 词：仿生关节 气动人工肌肉(PAM) 三自由度(3-DOF) 运动仿真 可行性实验验证 

分 类 号：TH138[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]