一种智能柔性弯曲气动人工肌肉驱动器的研究

发布时间：2018-05-02 07:56

本文选题：柔性驱动器 + 非线性　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：在近年来随着社会经济的不断发展,在计算机科学、自动化控制、机器人形态学等科学领域发展的推动下,机器人正在人类社会扮演着越来越重要的角色。与此同时由于柔性驱动器在仿生技术和机器人技术领域应用的独特优势,而受到越来越多的关注。与传统的驱动机构依靠刚性齿轮、铰链、连杆、凸轮等机械结构实现复杂的运动形式不同,柔性驱动器或驱动结构依靠自身柔性结构在外界激励作用下发生的结构变形来实现复杂、灵活的运动。本文研究的柔性气动肌肉驱动器便属于其中一种以流体压力作为激励源的柔性驱动器。柔性驱动器和驱动机构由于自身结构的柔性本质,具有传统驱动结构无法相比的柔顺性、灵活性,但与此同时也带来了结构和控制系统上强耦合、非线性、时变性的特点,使得柔性驱动器的力学分析与运动控制变得非常困难。本文为此开发了一种新型智能柔性弯曲气动肌肉驱动器,该驱动器具有结构简单输出稳定的特点。该驱动器包括弹性软管、编织网管、弹性支架、连接件等结构。当作为弹性内腔的弹性软管充入压缩气体时驱动器在编织网管和弹性支架约束下产生向一侧的弯曲运动。而基于该驱动器设计的仿人柔性机械手能够适应不同形状和尺寸的目标物体,体现出了驱动器的通用性、灵活性、适应性。通过对驱动的力学特性的测试与分析发现驱动器输出力/力矩、变形量以及工作气压之间存在着一定的迟滞现象和非线性特征。随后本文利用Mooney-Rivlin超弹性材料模型分别建立了非线性力平衡模型和能量模型,并且与实验结果吻合良好,能够有效地反应驱动器的非线性静力学特征。同时本文对驱动器进行了智能化设计使其具有自感知功能,并实现柔性驱动器运动状态的步进式反馈控制。通过测试发现智能柔性驱动器的反馈控制不仅能够实现驱动器的运动控制和输出力控制,还提高了驱动器的抗损和抗干扰能力。本文对提出的弯曲型气动肌肉驱动器建立了可靠实用有效的静力学数学模型,从而为该柔性驱动器的应用提供了理论参考和依据。而自感知驱动器和智能化控制系统的设计研究为柔性驱动器和驱动结构的控制问题提供了一种颇有前景的解决方案。相信柔性驱动器和驱动结构在相关研究的不断进步下,未来在柔性机器人、可穿戴运动辅助设备以及工农业生产、医疗服务、救援任务等领域将具有更加广阔的应用空间和巨大的应用价值。
[Abstract]:In recent years, with the development of social economy and the development of computer science, automation control, robot morphology and other scientific fields, robot is playing an increasingly important role in human society. At the same time, flexible actuators have attracted more and more attention because of their unique advantages in bionic technology and robot technology. Different from the traditional driving mechanism, which relies on rigid gears, hinges, connecting rods, cams and other mechanical structures to achieve complex motion forms, Flexible actuator or drive structure can realize complex and flexible motion by the deformation of its flexible structure under external excitation. The flexible pneumatic muscle actuator studied in this paper belongs to one of the flexible actuators with fluid pressure as the source of excitation. Because of the flexible nature of its own structure, the flexible driver and the driving mechanism have the flexibility and flexibility that the traditional drive structure can not compare, but at the same time, it also brings the characteristics of strong coupling, nonlinear and time-varying between the structure and the control system. The mechanical analysis and motion control of flexible actuators are very difficult. In this paper, a new intelligent flexible bending pneumatic muscle driver is developed, which has the characteristics of simple structure and stable output. The drive includes flexible hose, woven mesh tube, elastic support, connectors and other structures. When the elastic hose as an elastic inner cavity is filled with compressed gas, the actuator bends to one side under the constraint of the braided tube and the elastic support. The humanoid flexible manipulator based on the driver can adapt to the object with different shapes and sizes, which reflects the versatility, flexibility and adaptability of the driver. Through the testing and analysis of the mechanical properties of the drive, it is found that there are some hysteresis and nonlinear characteristics between the output force / torque, the deformation and the working pressure of the driver. Then the nonlinear force balance model and the energy model are established by using the Mooney-Rivlin hyperelastic material model. The results are in good agreement with the experimental results and can effectively reflect the nonlinear static characteristics of the actuator. At the same time, the intelligent design of the driver is carried out so that it has the function of self-sensing, and the stepwise feedback control of the motion state of the flexible driver is realized. It is found that the feedback control of the intelligent flexible driver can not only realize the motion control and output force control of the driver, but also improve the anti-loss and anti-interference ability of the driver. In this paper, a reliable, practical and effective static mathematical model of the bending pneumatic muscle actuator is established, which provides a theoretical reference and basis for the application of the flexible actuator. The design and research of self-sensing driver and intelligent control system provide a promising solution for the control problem of flexible driver and drive structure. It is believed that flexible actuators and driver structures will continue to be developed in the future in flexible robots, wearable motion aids, industrial and agricultural production, and medical services. Rescue mission and other fields will have wider application space and great application value.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH789;TP242

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