仿生气动肌纤维静态特性建模与实验研究

doi:10.16183/j.cnki.jsjtu.2020.092

摘要/Abstract

摘要：

开展气动肌纤维静态特性建模与实验研究,综合考虑气动肌纤维端部变形、摩擦力、死区气压等对其静态特性的影响,提出一种气动肌纤维静态特性数学模型.搭建气动肌纤维静态特性实验平台,开展气动肌纤维及气动肌纤维束静态特性等长实验、等张实验及等压实验,对比分析不同规格参数的气动肌纤维及气动肌纤维束的静态特性.基于实验所得的等压特性曲线,提出一种气动肌纤维束实验模型,由大量实验数据辨识获得符合实际情况的气动肌纤维及气动肌纤维束的静态特性数学模型,为气动肌纤维驱动微型仿生机器人的精准控制奠定基础.

关键词: 气动肌纤维, 气动肌纤维束, 静态特性

Abstract:

In this paper, the static characteristics modeling and experimental study of pneumatic muscle fiber (PMF) are conducted. Considering the influence of end deformation, friction, and dead zone pressure on the static characteristics of PMF, a mathematical model of static characteristics of PMF is proposed. The static characteristics experimental platform is designed, and the static characteristics experiments of PMF and pneumatic muscle fiber bundles (PMFB) are performed, including the isometric experiment, the isotonic experiment, and the isobaric experiment. The static characteristics of PMF and PMFB with different specifications are compared and analyzed. Based on the isobaric characteristic curves obtained from the experiment, an experimental model of PMFB is proposed. Besides, the mathematical models of static characteristics of PMF and PMFB are identified by a large number of experimental data, which are in line with the actual situation. The study in this paper will lay the foundation for the precise control of micro bionic robot driven by PMF.

Key words: pneumatic muscle fiber (PMF), pneumatic muscle fiber bundle (PMFB), static characteristic

中图分类号:

TP242

雷静桃, 张悦文, 戴臻豪, 徐子力. 仿生气动肌纤维静态特性建模与实验研究[J]. 上海交通大学学报, 2021, 55(5): 566-574.

LEI Jingtao, ZHANG Yuewen, DAI Zhenhao, XU Zili. Modeling and Experimental Study on Static Characteristics of Bionic Pneumatic Muscle Fiber[J]. Journal of Shanghai Jiao Tong University, 2021, 55(5): 566-574.

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参考文献 16

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参数	取值
气动肌纤维外径/mm	2.60
橡胶管外径/mm	2.00
橡胶管内径/mm	1.28
外套管纤维数量/根	32
外套管纤维直径/mm	0.16
外套管编织角/(°)	17~18
最大收缩力/N	27~29
最大收缩率/%	29

SPMF	PMFB
l₀/mm	l₀/mm	n
120	120	6
200	120	8
300	120	10

n	τ	φ	ω
6	-0.141	7.092	0.592
8	-0.255	10.580	2.248
10	-0.294	12.540	1.720

相关系数	τ(i=1)	φ(i=2)	ω(i=3)
d_i	0.0092	-0.191	-0.2731
e_i	-0.1854	4.418	4.6510
f_i	0.6395	-12.540	-17.4900