并联波纹管式气动柔性机械臂的动力学分析

Dynamic Analysis of Parallel Bellows Flexible Pneumatic Manipulator

柔性机械臂相较于刚性机械臂具有更强的环境交互性和适应性,运动学和动力学建模对于其特性研究非常重要,以此特点介绍一种气动并联柔性机械臂,以橡胶波纹管作为执行单元的气腔主体设计制造柔性机械臂模型。根据气动柔性臂空间动作特点,利用几何法建立运动学模型,得到柔性臂的等效几何参数、柔性臂末端中心坐标及各驱动气腔压力之间的映射关系,利用拉格朗日法建立动力学模型,得到柔性臂各执行器单元长度与输入气压之间的关系,实验测试柔性臂的空间运动性能,验证运动学及动力学模型的有效性,可应用于空间范围内物体的定位抓取。

Compared with rigid mechanical arm,flexible manipulator has stronger environmental interaction and adaptability.Kinematic and dynamic modeling is very important for the study of its characteristics.Based on this,a kind of pneumatic parallel flexible manipulator is introduced.According to the spatial motion characteristics of the pneumatic flexible arm,the kinematic model is established by using geometric method to obtain the equivalent geometric parameters of the flexible arm,the central coordinates of the end of the flexible arm and the mapping relationship between the pressure of each driving air chamber.The dynamic model is established by using Lagrange method to obtain the relationship between the length of each actuator element of the flexible arm and the input pressure.The spatial motion performance of the flexible arm is tested by experiments.The validity of the kinematics and dynamics model is verified,which can be applied to the location and grab of objects in space.