| 一种混合驱动式多关节双机械臂的设计与实验 |
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| 引用本文： | 陈剑锋,徐振胤,施光林.一种混合驱动式多关节双机械臂的设计与实验[J].机电一体化,2011(5):40-44,49. |
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| 作者姓名： | 陈剑锋 徐振胤 施光林 |
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| 作者单位： | 上海交通大学 机械与动力工程学院,上海,200240 |
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| 摘 要： | 基于机器入学和仿生学,设计了一种基于气动人工肌肉和步进电机混合驱动的多关节双机械臂,结构上兼具柔顺性和紧凑性,完成了多关节双机械臂气动回路和控制系统硬件的设计.基于VC+ +编程,开发了相应的控制系统软件和实现了用计算机对多关节双机械臂的位置协调控制.样机实验验证了多关节机械臂具有良好的位置精度和协调运动能力.
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| 关 键 词： | 气动人工肌肉 步进电机 混合驱动 双机械臂 协调控制 |
Development of a Hybrid Driving Two-arm Manipulator with Multi-joint |
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| Abstract: | Based on robotics and bionics, a two-arm manipulator is introduced. The manipulator with multi-joint is driven by pneumatic artificial muscle and stepping motor. In the paper an efficient pneumatic circuit system is developed for the manipulator, as well as software and hardware of position coordinated control system. At the end of the paper, experimental results show the manipulator has a good performance of positioning and coordinated movement. |
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| Keywords: | pneumatic artificial muscle stepping motor hybrid driving two-arm manipulator coordinated control |
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