基于FPA的新型气动柔性球关节的研究

Research on flexible pneumatic spherical joint based on FPA

驱动关节是机器人研究的重要基础部件,提出了一种基于气动柔性驱动器(FPA)的新型气动柔性球关节,本球关节采用三个FPA作为驱动器,通过向三个FPA输入不同的气压实现其旋转运动.由球关节力矩平衡的条件,建立了新型气动柔性球关节的数学模型,根据并联机构位置逆解易求的特点和BP神经网络的特性,建立了合适的BP神经网络模型,求解了新型气动柔性球关节的位置正解,最后通过MATLAB仿真验证了新型气动柔性球关节模型的准确性.

Actuating joint is a kind of important components of robot research.A new kind of flexible pneumatic spherical joint based on FPA is proposed.It is composed of three FPAs.When the air pressure in three FPAs is adjusted properly,the spherical joint can realize rotation movement.The mathematic model of the joint is built based on the conditions of moment equilibrium.the proper BP neural network model is built according to the characteristics of BP neural network and the inverse solution of parallel mechanism can be solved easily. And the forward position of the spherical joint is solved by BP neural network model. MATLAB simulation experiment was finally carried out to verify the mathematic model of the flexible pneumatic spherical joint.