气/液相变驱动小型气动肌肉执行器实验

Miniature Pneumatic Muscle Actuator Driven by Gas-liquid Phase Change

气动肌肉执行器重量轻、柔性好,被广泛应用于工业与研究领域。然而,用于驱动该执行器的气动设备使系统的尺寸过于庞大,为解决此问题,提出利用氟碳化合物气/液相变时膨胀做功来驱动气动肌肉执行器,选用金属陶瓷加热器加热氟碳化合物,使用PI控制器控制执行器的内部压力,制作拮抗驱动装置改善执行器作用力的动态特性。结果表明:气/液相变气动肌肉执行器内部产生的压力可以较好地跟踪参考输入信号;与空气驱动方式相比,采用气/液相变驱动时执行器的收缩率呈等值减小趋势;拮抗驱动装置能够改善气/液相变气动肌肉执行器作用力消失过程中的动力学特性。

Pneumatic muscle actuators(PMAs)are widely used in industry and research fields because of light weight and good flexibility.However,the pneumatic equipment driving this actuator make the size of system relatively large.In order to solve this problem,this paper proposes a method of using the expansion work of fluorocarbon during gas-liquid phase change(GLPC)to drive the PMA,adopts metal ceramics heater(MCH)to heat the fluorocarbon,uses PI controller to control the internal pressure of the PMA,and manufactures antagonistic drive device to improve the dynamic characteristics of the force.The experimental results show that the pressure inside the PMA driven by GLPC can track the reference signal well.Compared with air driven method,the contraction rate of the PMA reduced almost by a same value when driven by GLPC.The antagonistic drive device can improve the dynamic characteristics during the force disappearing process.