新型气动弯曲关节的静态特性分析

doi:10.3724/SP.J.1218.2013.00067

摘要
图/表
参考文献
相关文章 (1)

全文: PDF (726 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
黄鹏程, 杨庆华, 鲍官军, 王志恒, 都明宇, 张立彬. 新型气动弯曲关节的静态特性分析[J]. 机器人, 2013, 35(1): 67-72.DOI: 10.3724/SP.J.1218.2013.00067. HUANG Pengcheng, YANG Qinghua, BAO Guanjun, WANG Zhiheng, DU Mingyu, ZHANG Libin. Static Characteristic Analysis of a New Type of Pneumatic Bending Joint. ROBOT, 2013, 35(1): 67-72. DOI: 10.3724/SP.J.1218.2013.00067.

摘要

针对现有气动弯曲关节在低气压下弯曲角度受限制的问题，将两个气动柔性驱动器（FPA）作为弯曲关节驱动源，利用结构夹角实现关节的弯曲动作，并设计了一种新型气动弯曲关节．该关节包括一个T型结构、两个可以绕着转轴做圆周运动的转动结构和两个对称分布的FPA，FPA的两端固定在T型结构和转动结构上．通过改变两个FPA的内腔气压，使FPA伸长推动转动结构转动，使转动结构之间形成夹角，从而实现整体结构的弯曲运动．基于力矩平衡原理对弯曲关节中单个FPA的转动端进行静态特性分析．仿真分析和实验表明，相比于传统的单FPA弯曲关节，新型弯曲关节的角度气压比更高，即能在更低气压的条件下实现更大角度的弯曲任务．同时，其弯曲角度和FPA的内腔气压呈非线性关系，弯曲角度随关节结构参数的改变而改变．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	黄鹏程
	杨庆华
	鲍官军
	王志恒
	都明宇
	张立彬

关键词 ：气动柔性驱动器（FPA）, 弯曲关节, 静态模型, 手指康复器

Abstract：

Aiming at the bending angle limit of existing pneumatic bending joints at low pressure, an idea of using structural angle to implement the bending action is proposed. And a new type of pneumatic bending joints with two flexible pneumatic actuators (FPAs) as its drive source is designed. This joint includes one T-type structure, two rotating structures which can perform circular motion around the hinge, and two symmetrical FPAs. And two symmetrical FPAs are fixed on the T-type structure and the rotating structure. The two FPAs stretch to push rotating structure to move when inner air pressures are changed, which leads to an angle between rotating structures, and thus bending motion of the joints is achieved. The static characteristics of the turning end of FPA on the bending joint are analyzed based on the moment equilibrium principle. Simulation analysis and experimental results show that angle-pressure ratio of the new pneumatic bending joint is higher than traditional ones. It means that the larger bending angle can be gotten at lower pressure. Besides, the bending angle of the bending joint is nonlinear with the air pressure inside the FPA and the bending angle changes with the structure parameters.

Key words： flexible pneumatic actuator (FPA) bending joint static model finger rehabilitation apparatus

收稿日期: 2012-07-03 录用日期: 2012-11-07

TP241

基金资助:

国家863计划资助项目（2009AA04Z209）；国家自然科学基金资助项目（51075363）；浙江省自然科学基金杰出青年团队项目（R1090674）；中国博士后科学基金资助项目（2012M511385）；浙江省自然科学基金资助项目（LY12E05022）

通讯作者: 张立彬 E-mail: bxhsrh@163.com

作者简介: 黄鹏程（1986—），男，博士生．研究领域：手指运动仿生康复器．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00067 或 https://robot.sia.cn/CN/Y2013/V35/I1/67

[1] Caldwell D G, Medrano-Cerda G A, Goodwin M J. Braided pneumatic actuator control of a multi-jointed manipulator[C]// IEEE International Conference on Systems, Man and Cybernetics. Piscataway, NJ, USA: IEEE, 1993: 423-428.

[2] Chou C P, Hannaford B. Static and dynamic characteristics of McKibben pneumatic artificial muscles[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 1994: 281-286.

[3] Chou C P, Hannaford B. Measurement and modeling of Mc-Kibben pneumatic artificial muscles[J]. IEEE Transactions on Robotics and Automation, 1996, 12(1): 90-103.

[4] Tsagarakis N, Caldwell D G. Improved modelling and assessment of pneumatic muscle actuators[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2000: 3641-3646.

[5] 张金涛,耿德旭,刘晓敏,等.双向主动弯曲气动柔性关节力学特性分析[J].液压与气动,2011(6):39-42. Zhang J T, Geng D X, Liu X M, et al. Mechancal characteristics analysis of two-way active bending flexible pneumatic joint[J]. Chinese Hydraulics & Pneumatics, 2011(6): 39-42.

[6] 王龙辉,金英子,朱红亮,等.七自由度气动人工肌肉机械手臂的设计及研究[J].浙江理工大学学报,2012,29(1):74-78. Wang L H, Jin Y Z, Zhu H L, et al. Design and research of seven degrees of freedom robotic arm driven by pneumatic artificial muscle[J]. Journal of Zhejiang Sci-Tech University, 2012, 29(1): 74-78.

[7] 张立彬,鲍官军,杨庆华,等.气动柔性扭转关节静态模型[J].机械工程学报,2008,44(7):134-138. Zhang L B, Bao G J, Yang Q H, et al. Static model of flexible pneumatic torsion joint[J]. Journal of Mechanical Engineering, 2008, 44 (7): 134-138.

[8] 杨庆华,张立彬,胥芳,等.气动柔性弯曲关节的特性及其神经PID控制算法研究[J].农业工程学报,2004,20(4):88-91. Yang Q H, Zhang L B, Xu F, et al. Investigation of the characteristics of pneumatic flexible-bending joint and its neural PID controlling algorithm[J].\columnbreak Transactions of the Chinese Society of Agricultural Engineering, 2004, 20(4): 88-91.

[9] 钱少明,杨庆华,鲍官军,等.基于气动柔性驱动器的弯曲关节的基本特性研究[J].中国机械工程,2009(24):2903-2907. Qian S M, Yang Q H, Bao G J, et al. Research on basic characteristics of bending joint based on flexible pneumatic actuator[J]. China Mechanical Engineering, 2009(24): 2903-2907.

[10] 鲍官军,王志恒,杨庆华,等.气动柔性扭转关节动态特性研究[J].农业机械学报,2010,41(6):204-207,226. Bao G J, Wang Z H, Yang Q H, et al. Dynamic characteristics of flexible pneumatic torsion joint[J]. Transactions of the Chinese Society of Agricultural Machinary, 2010, 41(6): 204-207,226.

[11] 鲍官军,邵铁峰,李尚会,等.气动柔性摆动关节静态模型[J].农业机械学报,2011,42(6):198-202,212. Bao G J, Shao T F, Li S H, et al. Static model of flexible pneumatic swaying joint[J]. Transactions of the Chinese Society of Agricultural Machinary, 2011, 42(6): 198-202,212.

[12] 王志恒,杨庆华,钱少明,等.气动侧摆关节的动态特性[J].农业工程学报,2012,28(7):19-26. Wang Z H, Yang Q H, Qian S M, et al. Dynamic characteristics of pneumatic side-sway joint[J]. Transactions of the Chinese Society of Agricultural Engineering, 2012, 28(7): 19-26.

[13] 张付祥.创伤手指康复机械手系统研究[D].哈尔滨:哈尔滨工业大学,2007. Zhang F X. Research on the system of the rehabilitation manipulator for injured fingers[D]. Harbin: Harbin Institute of Technology, 2007.