基于PSO的气动人工肌肉驱动关节优化的研究

Optimization of Joint Driven by Pneumatic Muscle Actuator Based on PSO Algorithm

提出在气动人工肌肉驱动的关节系统中,存在一个最优关节设计,包括关节半径、肌肉附着点最优位置等,使得对同一系统输出转矩达到最优.通过分析气动人工肌肉静态特性模型,推导出关节静特性模型.改变气动人工肌肉的状态参数进行仿真,得到关节半径变化、肌肉附着点变化与关节输出转矩、收缩量之间的关系,并利用PSO计算出最优关节半径与肌肉附着点最优位置.此分析方法与结果对气动肌肉驱动的仿生手臂的结构设计起到有效的指导作用.

The optimal joint radius and point of attachment of pneumatic muscle actuator（PMA） were proposed,which make the output torque of the PMA driven joint system reach maximum.Through analyzing the static characteristics of PMA,a static character model of the joint was deduced.With the aid of simulations under different state parameters of PMA,the relationship between the joint radius and points of attachment of PMA as well as the output torque were acquired.Simultaneously,the algorithm of particle swarm optimization was adopted to calculate the optimal value of the joint radius and points of attachment of PMA.The proposed analytical method and its results play an effective role in guiding the structural design of a biotic arm driven by PMA.