基于气动柔性驱动器的弯曲关节的基本特性研究

中国机械工程 ›› 2009, Vol. 20 ›› Issue (24): 2903-2907.

基于气动柔性驱动器的弯曲关节的基本特性研究

钱少明;杨庆华;鲍官军;王志恒;张立彬

浙江工业大学机械制造及自动化教育部重点实验室,杭州,310032

出版日期:2008-12-25 发布日期:2010-01-07

Research on Basic Characteristics of Bending Joint Based on Flexible Pneumatic Actuator

Qian Shaoming;Yang Qinghua;Bao Guanjun;Wang Zhiheng;Zhang Libin

Key Laboratory of Mechanical Manufacture and Automation of Ministry of Education,Zhejiang University of Technology,Hangzhou,310032

Online:2008-12-25 Published:2010-01-07

摘要/Abstract

摘要：

基于气动柔性驱动器(FPA)研制了一种弯曲关节，该关节可用于机器人多指灵巧手设计。向FPA内腔中充入不同压力的压缩气体，弯曲关节可以实现不同的转角。对关节进行了力平衡分析，分别建立了关节的转角和输出力静态模型。对弯曲关节进行了静态特性测试实验，实验结果与仿真结果基本吻合。弯曲关节动态特性实验表明:关节转角开环阶跃响应时间大约1s，关节输出力的开环阶跃响应时间大约0.5s；采用前馈补偿及PI反馈控制可使关节转角实现精确控制。

关键词:

气动柔性驱动器(FPA), 弯曲关节, 静态模型, 机器人多指灵巧手

Abstract:

Based on FPA,a type of flexible pneumatic bending joint was proposed,the bending joint can be used for designing robot dexterous multi-fingered hand.When inflating the FPA with

compressed air,the pneumatic bending joint turned with an angle.

The force equilibrium equation of the FPA end was established.The static model about angle and force of the bending joint was obtained.Experiments were carried out to verify the static model.It is concluded from theoretical and experimental results that the experimental curve matches with the simulated curve.Then the experiments on dynamic performances of the bending join

were carried out. Experimental results show that the angle step response time of the joint is about 1s,and that the force step response time of the joint is about 0.5s.The accurate angle can be obtained based on PI feedback control and feed forward compensation.

Key words: flexible pneumatic actuator(FPA), bending joint, static model, robot dexterous multi-fingered hand

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