气动肌肉驱动的柔顺机器人操作手的设计和实现

Design and Implementation of a Flexible Manipulator Actuated by Pneumatic Muscle

摘要: 以气动肌肉为主要驱动器，设计了一个柔顺机器人操作手，在腕部和手部两个不同的关节，使用了两种不同型号的气动肌肉，分别采取了两种不同的传动方式．给出了腕部俯仰关节的位置控制策略．建立了手指的静力学模型，以此为基础，分析了气动肌肉的输入压力与指端夹持力的关系．实验结果表明，该机器人操作手可实现对物体安全、柔顺的抓取操作．

Abstract: A flexible robot manipulator is designed mainly based on the pneumatic muscles.Two different sizes of pneumatic muscles are used in wrist joint and knuckle,and two different transmission modes are adopted.A position control strategy of wrist pitch joint is given.The static model of finger is built,with which the relationship between the input pressure of the pneumatic muscles and the finger grasping force is analyzed.Experimental results show that the robot manipulator can grasp objects safely and compliantly.