三自由度仿生肩关节动力学建模与仿真控制分析  

Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint

作　　者：李芳[1] 许嘉琪 刘凯[2] 吴阳 Li Fang Xu Jiaqi Liu Kai Wu Yang(Jincheng College, Nanjing University of Aeronautics and Astronautics, Nanjing 211156, China College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

机构地区：[1]南京航空航天大学金城学院,江苏南京211156 [2]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械传动》2017年第10期65-69,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51405229);江苏省自然科学基金(BK20151470)

摘　　要：根据人体肩关节运动特性,提出了一种由气动人工肌肉(PMAs)驱动的解耦型并联肩关节。应用螺旋理论对三自由度并联机构进行了自由度分析。基于并联机构反解易求的特性,建立了机构的运动学模型,并利用拉格朗日法建立了机构的动力学模型。通过仿真控制实验,使用计算力矩法能较好控制三自由度并联机构的运动,同时也验证了动力学模型的正确性。According to the characteristics of shoulder joint, a deeoupling parallel bionic shoulder joint driven by pnemnatic muscle actuators （PMAs） is presented. Based on screw theory, the freedoms of 3 - DOF parallel mechanism are analyzed. The kinematics model of parallel mechanism is established because of its simple reverse solution. Besides, its dynamics model is also established based on Lagrange method. In simulation control, computed torque method can better control motion of parallel mechanism, which verifies the correctness of the dynamic model at the same time.

关 键 词：并联机构 气动人工肌肉(PMAs) 旋量理论 拉格朗日法 计算力矩法 

分 类 号：TH112[机械工程—机械设计及理论]