软体手臂刚度特性分析

发布时间：2018-07-10 10:20

  本文选题：软体机器人 + 伸长型气动肌肉　； 参考：《农业机械学报》2017年06期

【摘要】：气动肌肉驱动的软体机器人具有质量轻、功率密度比高、人机交互安全性高等优点。提出了一种由伸长型及收缩型气动肌肉组成的变刚度软体机器人手臂,能够实现位置与刚度的解耦。针对单根收缩型及伸长型气动肌肉进行了刚度测试实验,利用最小二乘法建立了单根气动肌肉气压、位移及刚度关系模型。基于所建立的单根气动肌肉刚度模型,针对所设计的软体手臂,建立了手臂刚度模型。搭建了手臂刚度测试实验平台,通过实验验证可知理论模型与实验模型的刚度变化趋势一致,平均相对误差为3.60%,最大相对误差为6.17%。
[Abstract]:The software robot driven by pneumatic muscle has the advantages of light weight, high power density ratio and high safety of man-machine interaction. A flexible robot arm with variable stiffness composed of extensional and contraction pneumatic muscles is proposed, which can decouple position and stiffness. In this paper, the stiffness test of single pneumatic muscle with contraction and elongation is carried out, and the model of air pressure, displacement and stiffness of single pneumatic muscle is established by least square method. Based on the single aerodynamic muscle stiffness model, the arm stiffness model is established for the designed flexible arm. The experimental platform of arm stiffness testing is built. The experimental results show that the stiffness of the theoretical model and the experimental model are the same. The average relative error is 3.60 and the maximum relative error is 6.17.
【作者单位】： 东北大学机械工程与自动化学院;
【基金】：国家自然科学基金面上项目(61573093) 国家高技术研究发展计划(863计划)项目(2015AA042302) 中央高校基本科研业务费专项资金项目(N150308001)
【分类号】：TP242
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本文编号：2113071