共查询到19条相似文献,搜索用时 62 毫秒
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基于气动肌肉仿人肩关节的运动控制 总被引:1,自引:0,他引:1
设计了一种使用气动人工肌肉作为驱动器的仿人肩关节实验装置;介绍了气动肌肉对拉关节的原理,设计了仿人肩关节的机械结构,使用PLC、角度位移传感器及高速开关阀搭建了实验装置的气动回路及控制系统,并在此基础上实现了3个自由度的闭环位置控制。实验结果表明所设计的仿人肩关节具有较好的定位运动控制效果。 相似文献
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气动肌肉驱动人工关节的建模研究 总被引:2,自引:0,他引:2
由气动肌肉驱动的人工关节具有重量轻、柔顺性好等特点。在关节建模中,首先需要解决气动肌肉实际特性和理论模型之间的差别,为此引入了力-压力系数和刚度系数,从而建立了实际特性和理论模型之间的联系。其次,在建模过程中为简化模型而忽略气体的流动过程及压缩性会使得理论模型的动态响应比实际模型要差。为此,考虑气动肌肉的充放气过程,建立了关节更准确的动态模型。最后,通过实验对模型进行了验证。 相似文献
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《机械工程学报(英文版)》2019,32(5)
A bionic flexible manipulator driven by pneumatic muscle actuator(PMA) can better reflect the flexibility of the mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic manipulator system.Compared with traditional electro-hydraulic actuators,the structure of PMA is simple but possesses strong nonlinearity and flexibility,which leads to the difficulty in improving the control accuracy.In this paper,the configuration design of a bionic flexible manipulator is performed by human physiological map,the kinematic model of the mechanism is established,and the dynamics is analyzed by Lagrange method.A fuzzy torque control algorithm is designed based on the computed torque method,where the fuzzy control theory is applied.The hardware experimental system is established.Through the co-simulation contrast test on MATLAB and ADAMS,it is found that the fuzzy torque control algorithm has better tracking performance and higher tracking accuracy than the computed torque method,and is applied to the entity control test.The experimental results show that the fuzzy torque algorithm can better control the trajectory tracking movement of the bionic flexible manipulator.This research proposes a fuzzy torque control algorithm which can compensate the error more effectively,and possesses the preferred trajectory tracking performance. 相似文献
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为提高仿人腕关节的运动性能,设计了一款形状记忆合金驱动的仿人腕关节样机,采用拮抗驱动方式实现对仿人腕关节的位置控制,并在相关理论和仿真分析的基础上,通过实验证明该系统模型具有一定的精度。通过样机运动控制实验,研究了拮抗驱动方式对系统运动性能的影响。结果表明,在拮抗驱动方式的不同频率信号跟踪实验中,对于单向正弦信号,跟踪误差最小为[-0.5°, 1°],最大为[-1.5°, 1.5°];对于双向正弦信号,腕关节能实现双向连续偏转,且当信号频率为1/15 Hz时,位置误差均小于[-1.5°, 1.5°]。相比于采用单根形状记忆合金丝驱动,拮抗驱动方式有利于提升位置控制精度和双向偏转能力。 相似文献