| 关于PMA驱动的手指关节半径优化问题的研究 |
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| 引用本文： | 刘昊,彭光正,刘琼,刘昱.关于PMA驱动的手指关节半径优化问题的研究[J].北京理工大学学报,2010(S1):60-64. |
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| 作者姓名： | 刘昊 彭光正 刘琼 刘昱 |
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| 作者单位： | 北京理工大学 自动化学院, 北京 100081;北京理工大学 自动化学院, 北京 100081;北京理工大学 自动化学院, 北京 100081;北京理工大学 自动化学院, 北京 100081 |
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| 摘 要： | 提出在气动人工肌肉驱动的关节系统中存在一个最优关节半径,使得对同一系统输出转矩达到最大. 通过分析气动人工肌肉静态特性模型,推导出关节静特性模型. 改变气动人工肌肉的结构参数或状态参数进行仿真,得到关节半径变化与关节输出转矩之间的关系,并计算出最优关节半径. 关节转角越大,最优关节半径越小;肌肉越长,最优关节半径越大,肌肉的直径对最优关节半径影响不明显. 该分析方法与结果对气动肌肉驱动的灵巧手的结构设计起到有效的指导作用.
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| 关 键 词： | 气动人工肌肉 关节半径 优化 |
| 收稿时间： | 2010/3/30 0:00:00 |
Study on the Joint Radius Optimization of the Finger Driven by PMA |
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| LIU Hao,PENG Guang-zheng,LIU Qiong and LIU Yu.Study on the Joint Radius Optimization of the Finger Driven by PMA[J].Journal of Beijing Institute of Technology(Natural Science Edition),2010(S1):60-64. |
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| Authors: | LIU Hao PENG Guang-zheng LIU Qiong and LIU Yu |
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| Affiliation: | School of Automation, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | The optimal joint radius is proposed in the PMA driven joint system, which makes the output torque reach as maximum. Through analyzing the static characteristics of PMA, a static model of the joint is deduced. Based on simulations with different structure and state parameters of PMA, the relationship between the joint radius and the output torque is acquired. Simultaneously it is possible to calculate the optimal value of the joint radius. The greater joint angle is, the smaller optimal value of the joint radius is gained; the longer PMA is, the larger optimal value of the joint radius is gained. The diameter of a PMA has little effect on optimal value of the joint radius. This analysis method and results play an effective role in guiding the structural design of a dexterous hand driven by PMA. |
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| Keywords: | pneumatic muscle actuator(PMA) joint radius optimization |
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