气动人工肌肉并联机器人平台

PARALLEL MANIPULATOR DRIVEN BY PNEUMATIC MUSCLE ACTUATORS

提出一种基于气动人工肌肉的新型3自由度并联机器人平台,该机器人平台结构简单,具有3转动自由度。在对该新型3自由度并联机器人平台运动学和动力学特性理论分析的基础上,采用模糊变结构控制策略设计了新型3自由度并联机器人平台的两层滑模模糊变结构控制器,并建立了试验系统,开展了新型3自由度并联机器人平台的试验研究,其最大位置跟踪误差0．3 mm,当气源压力改变后,最大跟踪误差仍小于0．6 mm。试验结果表明,采用气动人工肌肉作为驱动装置设计的3自由度并联机器人平台是可行的,两层滑模模糊变结构控制策略对于该系统是适合的。

A parallel manipulator with three orientational degrees of freedom driven by pneumatic muscle actuators （PMA） is proposed. A fuzzy variable structure controller （FVSC） is designed on the basis of analyzing kinematics and dynamics of the parallel manipulator. The experiment shows that the maximum error is 0.3 mm. When the air supply pressure is changed, the error is still less than 0.6 mm. The results demonstrate that the parallel manipulator driven by PMAs is appropriate and FVSC method is suitable for the parallel manipulator.