气动肌肉关节的刚度分析及变刚度运动控制  

Stiffness Analysis of Pneumatic Muscle Joint and Variable Stiffness Motion Control

作　　者：王悠草 周祎博 崔小红 周坤 王斌锐 WANG You-cao;ZHOU Yi-bo;CUI Xiao-hong;ZHOU Kun;WANG Bin-rui(School of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou,Zhejiang 310018)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018

出　　处：《液压与气动》2022年第9期138-148,共11页Chinese Hydraulics & Pneumatics

基　　金：浙江省重点研发计划(2021C01069)。

摘　　要：根据人腿髋关节、膝关节骨骼结构及拮抗肌肉运动发力特点,设计一种拮抗气动肌肉驱动的仿生单腿机器人;由三元素模型求单根肌肉及关节摆动下被动刚度特性,分析关节角度/刚度关系;为实现仿生腿膝关节刚度可控的角度控制,建立仿生关节关于角度/刚度的基本气压解算模型;基于计算力矩控制对非线性对象具有高度补偿线性化性,提出含力矩项补偿的改进气压解算模型。搭建仿真及样机实验平台,结果表明,含两种气压解算模型的双闭环控制算法均能较好跟随膝关节角度/刚度,含带力矩项补偿模型的双闭环控制算法对膝关节的角度/刚度控制精度优于含基本模型的双闭环控制算法。该算法适用拮抗气动肌肉关节的类人运动,可满足人机协作时可靠性、柔顺性、仿生性等要求。An antagonistic pneumatic muscle driven bionic single-leg robot is designed from the perspective of human hip, knee skeletal structure and the way antagonistic muscle exercise;the passive stiffness characteristics of single muscle and joints during swing are obtained through three-element model, and the angle/stiffness relationship of joint is analyzed;to realize angle control of knee joint with controllable stiffness, the pressure solution model of bionic joint is established from the angle/stiffness relationship;based on the high compensation linearization of calculated torque control for nonlinear objects, a modified pressure solution model with torque compensation item is proposed. The simulation and experiment platform are built, and the results show that both of the double closed-loop control algorithm including two pressure solution models can follow the angle/stiffness of the knee joint well. The double-loop parallel control algorithm including the improved model with torque term compensation is superior to the one with basic model on angle/stiffness control accuracy of the knee joint. The algorithm of this paper can meet the requirements of reliability, softness, and bionics on antagonistic pneumatic muscle joint during collaboration with people.

关 键 词：气动肌肉 仿生关节 单腿机器人 角度/刚度控制 计算力矩法 

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] TP273[自动化与计算机技术—控制科学与工程]