气动弯曲型人工肌肉瞬态动力学建模、分析与验证

Modeling, Analysis and Verification of Transient Dynamics of Pneumatic Bending Artificial Muscle

气动弯曲型人工肌肉是实现柔性机械手的核心设备,针对其迟滞非线性导致的难于精确控制的问题,提出一种变截面气缸法用于动力学建模与分析。采用变步长四阶龙格库塔法对模型进行数值计算,分析了影响其动态特性的关键参数灵敏度。进一步,对编织角为60°的弯曲型执行器的动力学特性进行了仿真与实验验证。结果表明,提出的动力学模型能够准确描述该执行器的瞬态响应特性,该执行器能够在1 s之内完成充压过程,并且能够在0.1 s内做到快速响应,模型误差小于5%。动力学模型为实现柔性机械手的高精度抓取奠定了理论基础。

Pneumatic flexing artificial muscle is the core equipment of flexible manipulator.To solve the problem that accurate control is difficult due to its hysteresis nonlinearity,a variable cross-section cylinder method is proposed for dynamic modeling and analysis.Fourth-order Runge-Kutta method with variable step size is used for numerical calculation of the model,and the sensitivity of key parameters affecting its dynamic characteristics is analyzed.Further,the dynamic characteristics of bending actuator with braided angle of 60°are simulated and verified by experiment.The results show that the dynamic model proposed can accurately describe the transient response characteristics of the actuator.The actuator can complete the charging process in less than 1 s and respond quickly in less than 0.1 s with a model error of less than 5%.Dynamic model lays a theoretical foundation for high-precision grasping of flexible manipulator.