【摘要】：氣動(dòng)人工肌肉是一種拉伸型的氣動(dòng)執(zhí)行器,類似于生物肌肉,具有功率/質(zhì)量比高、響應(yīng)速度快、噪聲小等優(yōu)點(diǎn),具有廣泛的應(yīng)用前景。由于其只能提供軸向的拉力,所以大多被使用在兩根氣動(dòng)肌肉對(duì)拉產(chǎn)生一個(gè)轉(zhuǎn)動(dòng)自由度的結(jié)構(gòu)中。本文利用氣動(dòng)人工肌肉類似人體肌肉的力學(xué)特性,將其運(yùn)用于人體中大轉(zhuǎn)動(dòng)范圍、高靈活性的肩部關(guān)節(jié)結(jié)構(gòu)設(shè)計(jì)中。同時(shí)對(duì)仿人體上臂機(jī)構(gòu)進(jìn)行優(yōu)化以獲取更優(yōu)的構(gòu)型,并對(duì)該機(jī)構(gòu)的控制算法進(jìn)行研究,具體工作如下:首先,分析了人體上臂中骨骼、肌肉及其運(yùn)動(dòng)過程中肌肉對(duì)骨骼的作用機(jī)理,選定使用串并聯(lián)結(jié)構(gòu)作為仿人體上臂的基本結(jié)構(gòu),然后運(yùn)用拓?fù)浣Y(jié)構(gòu)分析方法判定機(jī)構(gòu)的合理性,在確定好結(jié)構(gòu)之后,對(duì)該機(jī)構(gòu)進(jìn)行三維模型設(shè)計(jì)。其次,對(duì)氣動(dòng)人工肌肉驅(qū)動(dòng)的仿人體上臂機(jī)構(gòu)的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)進(jìn)行分析。由于串并聯(lián)機(jī)構(gòu)的特殊性,在求解運(yùn)動(dòng)學(xué)逆解時(shí),機(jī)構(gòu)的位姿具有一定的耦合性,本文解算出機(jī)構(gòu)的末端位姿耦合方程。運(yùn)用凱恩方法建立機(jī)構(gòu)的動(dòng)力學(xué)方程。由于仿人體上臂機(jī)構(gòu)是冗余機(jī)器人,所以在求解它的動(dòng)力學(xué)方程時(shí)會(huì)存在多解情況。本文使用線性規(guī)劃來解其動(dòng)力學(xué)方程來獲得運(yùn)動(dòng)控制時(shí)機(jī)構(gòu)中人工肌肉的輸出力。同時(shí)分析了仿生機(jī)構(gòu)的奇異位形,并且通過運(yùn)動(dòng)學(xué)逆解和正解混合使用計(jì)算該機(jī)構(gòu)的工作空間。然后,采用加權(quán)法將仿人體上臂結(jié)構(gòu)的多目標(biāo)優(yōu)化轉(zhuǎn)變成單一目標(biāo)優(yōu)化,并對(duì)權(quán)重系數(shù)進(jìn)行歸一化處理,運(yùn)用粒子群算法進(jìn)行優(yōu)化。為了提高優(yōu)化效率,使用自適應(yīng)調(diào)整權(quán)重系數(shù)的方式,實(shí)時(shí)調(diào)整優(yōu)化過程中優(yōu)化函數(shù)的權(quán)重系數(shù)。對(duì)比歸一化處理和自適應(yīng)權(quán)重兩種方法的優(yōu)化結(jié)果可知,加入自適應(yīng)的優(yōu)化效率更高,優(yōu)化結(jié)果更好。最后,提出氣動(dòng)人工肌肉的名義收縮力的概念。根據(jù)單根肌肉測(cè)試數(shù)據(jù),計(jì)算并繪制名義輸出力和收縮率的曲線圖,然后進(jìn)行數(shù)據(jù)擬合以獲得單根氣動(dòng)人工肌肉的數(shù)學(xué)模型。搭建機(jī)構(gòu)控制試驗(yàn)平臺(tái),并編寫控制程序。設(shè)計(jì)閉環(huán)PID控制和模糊PID控制兩種控制器,然后分別進(jìn)行兩種運(yùn)動(dòng)的試驗(yàn)研究。根據(jù)這兩種控制方法的試驗(yàn)結(jié)果對(duì)比可知,加入了模糊控制算法的運(yùn)動(dòng)具有更好的控制精度。
[Abstract]:Pneumatic artificial muscle is a kind of stretch pneumatic actuator, which is similar to biological muscle. It has the advantages of high power / mass ratio, fast response speed, low noise and so on. Because it can only provide axial tension, it is mostly used in a structure where two pneumatic muscles produce a rotational degree of freedom to pull. Based on the mechanical properties of pneumatic artificial muscles similar to human muscles, this paper applies them to the structural design of shoulder joints with large rotation range and high flexibility. At the same time, the mechanism of imitation human upper arm is optimized to obtain better configuration, and the control algorithm of the mechanism is studied. The specific work is as follows: firstly, the skeleton in the upper arm of human body is analyzed. The mechanism of muscle action on bone during muscle and its movement, the series-parallel structure is chosen as the basic structure of human upper arm, and then the rationality of the mechanism is determined by using topological structure analysis method. The three-dimensional model of the mechanism is designed. Secondly, the kinematics and dynamics of the arm mechanism driven by pneumatic artificial muscle are analyzed. Because of the particularity of the series-parallel mechanism, the position and pose of the mechanism have some coupling property when solving the inverse kinematics solution. In this paper, the coupling equation of the end position and attitude of the mechanism is solved. Kane's method is used to establish the dynamic equation of the mechanism. Since the upper arm mechanism of human body is redundant robot, there are many solutions in solving its dynamic equation. In this paper, linear programming is used to solve its dynamic equation to obtain the output force of artificial muscle in motion control. At the same time, the singular configuration of the bionic mechanism is analyzed, and the workspace of the mechanism is calculated by mixing the kinematics inverse solution and the positive solution. Then, the weighted method is used to transform the multi-objective optimization of the human upper arm structure into a single objective optimization, and the weight coefficient is normalized and the particle swarm optimization algorithm is used to optimize. In order to improve the optimization efficiency, the weight coefficient of the optimization function is adjusted in real time by adjusting the weight coefficient adaptively. Comparing the results of normalized processing and adaptive weight, we can see that the efficiency of adding adaptive optimization is higher and the result of optimization is better. Finally, the concept of nominal contractility of pneumatic artificial muscle is proposed. According to the test data of a single muscle, the curves of nominal output force and contraction rate are calculated and drawn, and then the mathematical model of a single pneumatic artificial muscle is obtained by fitting the data. Set up the control test platform, and write the control program. The closed-loop PID control and fuzzy PID control are designed. According to the experimental results of these two control methods, it can be seen that the motion with fuzzy control algorithm has better control accuracy.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：R318.1;TP242

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