Design and control of a manipulator arm driven by pneumatic muscle actuators
Design and control of a manipulator arm driven by pneumatic muscle actuators
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气动肌肉执行器驱动机械臂的设计与控制
DOI：
10.1109/med.2008.4602136
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
ko Herceg
中科院分区：
文献类型：
--
作者：
Z. Situm;ko Herceg
气动人造肌肉在驱动新型机器人和机械手方面具有巨大的工业应用潜力。它们的结构紧凑、强度高、功率重量比高、固有的安全性和简单性等特性是先进机器人技术的值得称道的特点。本文介绍了一种由气动肌肉作动器驱动的单关节机械臂的设计、构造和实验测试。拮抗肌对在线性平移意义上用于产生力，或在旋转意义上用于在滑轮上产生所需的扭矩。阐述了气动肌肉执行器的概念、工作原理及基本性能。推导了由气动人工肌肉驱动、比例控制阀控制的机械臂非线性数学模型，并将其应用于数值仿真程序中。在实际实现的机械臂上进行了实验，该机械臂由一对肌肉致动器设置为对抗构型。
It seems that the pneumatic artificial muscles (PAMs) have a very great potential in industrial applications for the actuation of new types of robots and manipulators. Their properties such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity are worthy features in advanced robotics. In this paper we describe the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic muscle actuators. An antagonistic muscle pair is used in a linear translational sense to produce a force or in a rotational sense to produce a required torque on the pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. A nonlinear mathematical model of the manipulator arm driven by pneumatic artificial muscles and controlled with proportional control valve is derived, which is used in a numerical simulation program. The experiments were carried out on practically realized manipulator actuated by pair of muscle actuators set into antagonism configuration.