一种新型气动肌肉执行器的结构设计与控制研究  

Structure design and control of a new pneumatic muscle actuator

作　　者：林华钊 LIN Hua-zhao(Intelligent Manufacturing Department,Zhuhai Technician College,Zhuhai 519000,China)

机构地区：[1]珠海市技师学院智能制造系,广东珠海519000

出　　处：《机电工程》2023年第7期1079-1085,共7页Journal of Mechanical & Electrical Engineering

基　　金：广东省普通高校重点专项资助项目(2020ZDZX2032)。

摘　　要：传统的气动肌肉执行器存在结构单一、功能低下的问题,为此,基于蛇在蜿蜒运动时的灵感,提出了一种具有向两个相反方向弯曲能力的双弯曲型气动肌肉执行器(DB-PMA)。首先,以传统的收缩式气动肌肉执行器(CPMA)为切入点,描述了DB-PMA的机械结构,包括DB-PMA仿生学设计基础以及DB-PMA的基本机械结构;然后,在“放松”、“加压”、“特殊”3种不同状态下,展开了对DB-PMA的相关运动学分析;并基于DB-PMA进行了实验,对实验结果进行了分析,将其与传统CPMA进行了性能方面的对比;最后,基于该执行器设计了一款软体机械臂,对该机械臂的性能进行了展示,并使用两种方法对其进行了优化改进,并对改进后的机械臂做了分析。研究结果表明:通过第一种改进方法可以使机械臂的最大弯曲角度增加到213°,通过第二种改进方法可以明显地使机械臂的控制更精准;相较于最初的机械臂,两种改进方法均能使机械臂的性能得到了明显的优化与改善。The traditional pneumatic muscle actuator has the problems of single structure and low function.Therefore,based on the inspiration of snake s meandering movement,a double bending pneumatic muscle actuator(DB-PMA)with the ability to bend in two opposite directions was proposed.Firstly,the mechanical structure of DB-PMA was described,including the bionic design basis of DB-PMA and the basic mechanical structure of DB-PMA,with the traditional contraction pneumatic muscle actuator(CPMA)as the breakthrough point.Then,the related kinematics analysis of DB-PMA was carried out in three different states:relaxation,pressurization and special.Experiments were carried out based on DB-PMA,and the experimental results were analyzed and compared with traditional CPMA in terms of performance.Finally,based on the actuator,a software manipulator was designed,and its performance was demonstrated,and it was optimized and improved by two methods,and the improved manipulator was analyzed.The research results show that the maximum bending angle of the manipulator can be increased to 213°by the first improvement method,and the second improvement method can obviously make the manipulator be controlled more accurately,afterwards the performance of both improvement methods can be significantly optimized and improved compared with the original manipulator.

关 键 词：气压传动 双弯曲型气动肌肉执行器 收缩式气动肌肉执行器 运动学分析 软体机械臂 两指软夹持器 神经网络控制器 

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]