摘要
根据人体肩关节运动特性,提出了一种由气动人工肌肉(PMAs)驱动的解耦型并联肩关节。应用螺旋理论对三自由度并联机构进行了自由度分析。基于并联机构反解易求的特性,建立了机构的运动学模型,并利用拉格朗日法建立了机构的动力学模型。通过仿真控制实验,使用计算力矩法能较好控制三自由度并联机构的运动,同时也验证了动力学模型的正确性。
According to the characteristics of shoulder joint, a deeoupling parallel bionic shoulder joint driven by pnemnatic muscle actuators （PMAs） is presented. Based on screw theory, the freedoms of 3 - DOF parallel mechanism are analyzed. The kinematics model of parallel mechanism is established because of its simple reverse solution. Besides, its dynamics model is also established based on Lagrange method. In simulation control, computed torque method can better control motion of parallel mechanism, which verifies the correctness of the dynamic model at the same time.
作者
李芳
许嘉琪
刘凯
吴阳
Li Fang Xu Jiaqi Liu Kai Wu Yang(Jincheng College, Nanjing University of Aeronautics and Astronautics, Nanjing 211156, China College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
出处
《机械传动》
CSCD
北大核心
2017年第10期65-69,共5页
Journal of Mechanical Transmission
基金
国家自然科学基金(51405229)
江苏省自然科学基金(BK20151470)
