新型变刚度软体手臂的设计及控制

doi:10.12068/j.issn.1005-3026.2018.01.019

东北大学学报:自然科学版 ›› 2018, Vol. 39 ›› Issue (1): 93-97.DOI: 10.12068/j.issn.1005-3026.2018.01.019

新型变刚度软体手臂的设计及控制

项超群，张颖，郭少飞，郝丽娜

(东北大学机械工程与自动化学院，辽宁沈阳110819)

收稿日期:2016-07-01 修回日期:2016-07-01 出版日期:2018-01-15 发布日期:2018-01-31
通讯作者: 项超群
作者简介:项超群(1986-)，男，辽宁辽阳人，东北大学博士研究生; 郝丽娜(1968-)，女，辽宁庄河人，东北大学教授，博士生导师.
基金资助:
国家高技术研究发展计划项目(2015AA042302).

Design and Control of a Novel Variable Stiffness Soft Arm

XIANG Chao-qun， ZHANG Ying， GUO Shao-fei， HAO Li-na

School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.

Received:2016-07-01 Revised:2016-07-01 Online:2018-01-15 Published:2018-01-31
Contact: HAO Li-na
About author:-
Supported by:
-

摘要/Abstract

摘要： 软体机器人具有机构重构性、适应性及灵活性.基于气动系统的软体机器人具有质轻、功率密度比高、人机交互安全性高等优点，设计了一种由伸长型及收缩型气动肌肉组成的新型变刚度软体机器人手臂.根据该软体手臂的运动特性建立了运动学模型，利用MATLAB软件分析了手臂的工作空间.搭建控制实验测试平台，完成了手臂的轨迹运动控制实验，实验结果表明:跟踪阶跃信号上升时间小于2s，稳态平均误差为0.0028rad(0.16°)，正弦信号跟随响应曲线平均误差为 0.0159rad(0.911°)，手臂具有良好的可控性.

关键词: 软体机器人, 变刚度, 伸长型气动肌肉, 收缩型气动肌肉, 运动控制

Abstract: Soft robot arms has unique capabilities in reconfigurability， adaptability， flexibility and dexterity. In particular， pneumatic soft robotic systems have advantages such as light weight， high power to weight ratio， and having inherent safety in physical human-robot interaction. A novel design of a soft robotic arm consist of both contractile and extensor pneumatic artificial muscle (PAM) was presented. Kinematic model of this arm was established， and the workspace was analyzed using MATLAB. Experiment setup was established， and motion control experiment of the arm was carried out. Experimental results showed that steady state mean error of tracking step signal is 0.0028rad(0.16°)， rise time is less than 2s; mean error of tracking sine signal is 0.0159 rad(0.911°)， which means this arm has good controllability.

Key words: soft robot, variable stiffness, expansive PAM, contractile PAM, motion control

中图分类号:

TP241.3

项超群，张颖，郭少飞，郝丽娜. 新型变刚度软体手臂的设计及控制[J]. 东北大学学报:自然科学版, 2018, 39(1): 93-97.

XIANG Chao-qun， ZHANG Ying， GUO Shao-fei， HAO Li-na. Design and Control of a Novel Variable Stiffness Soft Arm[J]. Journal of Northeastern University Natural Science, 2018, 39(1): 93-97.

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新型变刚度软体手臂的设计及控制

Design and Control of a Novel Variable Stiffness Soft Arm

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