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气动肌肉是仿生机器人研究的重点,为此,设计了形状记忆合金丝编织网气动肌肉机构.通过等效气缸和等效动力学分析,建立了输出力模型,设计了含位置PID内环的阻抗控制,并建立了阻抗模型,通过拉氏变换和频域分析给出了稳定条件.理论分析表明,合金丝的收缩可增大气动肌肉的输出力和调节刚度.在Matlab上开展阻抗参数对柔顺性影响的仿真实验,结果表明刚度对于接触力影响最大,阻抗控制可实现接触力和位置的协调控制.
Pneumatic muscle is the focus of the study on bionic robot.Therefore, the pneumatic muscle mechanism of the shape memory alloy wire braid is designed.By the equivalent cylinder and equivalent dynamics analysis, the output force model is established and the impedance Control, and set up the impedance model, through the Laplace transform and frequency domain analysis gives the stability conditions. Theoretical analysis shows that the contraction of the alloy wire can increase the output force of pneumatic muscle and adjust the stiffness. The simulation results show that the stiffness has the greatest influence on the contact force, and the impedance control can achieve the coordinated control of the contact force and the position.