摘要
针对当前康复下肢机器人动力源刚度较强以及气动人工肌肉控制非线性、滞后性等问题,设计了一种气动人工肌肉和磁流变制动器复合驱动的膝关节结构。依照MRB-PAM柔性关节的运动学模型,探究了仿生柔性关节运动特性;基于三元素模型和Bouc-Wen模型以及能量守恒定理,研究推导出了关节结构参数与动力学特性的映射模型以及建立了单腿拉格朗日动力学MRB-PAM柔性关节的动力学模型,探究柔性关节的复合驱动机理。研究结果表明,MRB-PAM柔性关节较PAM柔性关节具有良好的稳定性和承载能力,验证了MRB-PAM柔性关节的可行性。
Aiming at the problems such as strong power source stiffness of current rehabilitation lower limb robots and nonlinear and hysteretic control of pneumatic artificial muscle,a knee joint structure driven by pneumatic artificial muscle and MR Brake is designed.According to the kinematic model of the MRB⁃PAM flexible joint,the motion characteristics of the bionic flexible joint are explored.Based on the three⁃element model,the Bouc⁃Wen model and the energy conservation theorem,the mapping model of the structural parameters and dynamic characteristics of the joint are deduced.The dynamic model of the single⁃leg Lagrangian dynamics of the MRB⁃PAM flexible joint is established to explore the complex driving mechanism of the flexible joint.The results show that the MRB⁃PAM flexible joints have better stability and load⁃bearing capacity than PAM flexible joints,which verifies the feasibility of the MRB⁃PAM flexible joints.
作者
李安平
殷时蓉
罗天洪
奚陶
陈庆
王柯
LI Anping;YIN Shirong;LUO Tianhong;XI Tao;CHEN Qing;WANG Ke(School of Mechanical and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China;School of Intelligent Manufacturing Engineering,Chongqing University of Arts and Sciences,Chongqing 400074,China)
出处
《机械设计与研究》
CSCD
北大核心
2024年第1期171-178,共8页
Machine Design And Research
基金
国家自然科学基金资助项目(52175215)
重庆市英才计划资助项目(cstc2021ycjh-bgzxm0279)。
关键词
复合驱动
柔性关节
气动人工肌肉
磁流变液制动器
动力学特性
compound drive
flexible joint
pneumatic artificial muscle
mr liquid brake
dynamic characteristic
