多自由度气动柔性手腕动力学性能实验研究

Experimental Study on Dynamic Properties of Pneumatic Flexible Wrist with Multiple Degrees of Freedom

为辅助手腕功能缺失患者进行康复训练,设计一种气动柔性手腕。该手腕由4根人工肌肉和1个气动球形制动器并联而成,具有2个自由度和2个机动度,能够实现俯仰、横摆运动,且能根据任务需要,实时调节阻尼实现位置保持。该手腕属于气动复合弹性体,其动力学模型十分复杂且不利于实时精准控制。为便于后期手腕的运动控制,对其动力学性能进行实验研究。采用三维运动捕捉系统对不同阻尼情况下,手腕在不同激励信号下的动力学特性进行对比实验,得到了大量动力学性能数据,为后续手腕运动控制及其在相关康复机器人中的应用提供技术支持。

In order to assist patients with wrist dysfunction in rehabilitation training,a pneumatic flexible wrist was designed.The pneumatic flexible wrist was composed of four artificial muscles and a pneumatic spherical brake in parallel,and had 2 degrees of freedom and 2 degrees of maneuverability,which could realize pitch and yaw movement,and the wrist could adjust the damping in real time according to the needs of the task to maintain position.The pneumatic flexible wrist belongs to a pneumatic composite elastomer,which dynamics model is very complicated and is not conducive to real-time precise control.To facilitate the later movement control of the wrist,the experimental study on its dynamic performance was carried out.The dynamic characteristics of wrist under different excitation signals under different damping conditions were compared by using three-dimensional motion capture system,and a large amount of dynamic performance data were obtained,which provided technical support for the subsequent wrist motion control and its application in related rehabilitation robots.