本文選題：軟體機器人 + 伸長型氣動肌肉　； 參考：《農(nóng)業(yè)機械學(xué)報》2017年06期

【摘要】：氣動肌肉驅(qū)動的軟體機器人具有質(zhì)量輕、功率密度比高、人機交互安全性高等優(yōu)點。提出了一種由伸長型及收縮型氣動肌肉組成的變剛度軟體機器人手臂,能夠?qū)崿F(xiàn)位置與剛度的解耦。針對單根收縮型及伸長型氣動肌肉進行了剛度測試實驗,利用最小二乘法建立了單根氣動肌肉氣壓、位移及剛度關(guān)系模型�；谒⒌膯胃鶜鈩蛹∪鈩偠饶Ｐ�,針對所設(shè)計的軟體手臂,建立了手臂剛度模型。搭建了手臂剛度測試實驗平臺,通過實驗驗證可知理論模型與實驗?zāi)Ｐ偷膭偠茸兓厔菀恢?平均相對誤差為3.60%,最大相對誤差為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.
【作者單位】： 東北大學(xué)機械工程與自動化學(xué)院;
【基金】：國家自然科學(xué)基金面上項目(61573093) 國家高技術(shù)研究發(fā)展計劃(863計劃)項目(2015AA042302) 中央高�；究蒲袠I(yè)務(wù)費專項資金項目(N150308001)
【分類號】：TP242
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本文編號：2113071