摘要
为明确机构参数对关节仿生特性的影响,通过旋转变换矩阵,求得气动肌肉相对伸缩量与关节摆角之间的精确模型;利用单根气动肌肉的动力学模型,建立了仿生关节力矩方程,通过提取弹性力矩,推导得到摆角与弹性力矩比值的柔度公式。搭建了SimMechanics仿真平台;仿真得到不对称对气动肌肉伸缩总量的影响,及不等高和不对称对匀速摆动中关节柔度的影响曲线。针对人体手臂,优化设计了肩关节和肘关节的机构参数。针对右侧气动肌肉最大收缩状态,逆向反求左侧气动肌肉参数,以保证左右侧气动肌肉同时达到最大伸缩量。与传统方案对比表明:优化的肩关节摆角范围提高7%,肘关节提高42%;气动肌肉伸缩总量最大可减小7%;仿生关节特性更接近人类上肢体关节。
Aimed at illustrating the effect of mechanism to bionic characteristics, the accurate relationship between the joint rotating angle and pneumatic muscle contraction was established by rotation matrix. Based on the dynamics of single pneumatic muscle, the bionic joint torque equation was established. The compliance of bionic joint was deduced and expressed as the ratio of the angle to spring torque that was extracted from the joint torque model. Simulation was implemented by SimMechanics, and effects of asymmetry mechanism to the total contraction, and 5-links mechanism to joint compliance were given in curves. According to human arm joint characteristics, parameters of bionic shoulder and elbow joints were optimal designed. In order to ensures that bi-pneumatic-muscle achieve maximum contraction in the same time, based on the given right pneumatic muscle, left one＇s parameters was designed reverse. Compared to symmetrical mechanism, angular range of shoulder is enhanced on 7%, and that of elbow enhanced on 42%; the contraction amount of bi-pneumatic-muscle can be reduced arrive 7%（most） under the same rotation scope. Optimal mechanism is more closely to human joint.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2013年第12期2967-2972,共6页
Journal of System Simulation
基金
国家自然科学基金(50905170)
浙江省自然科学基金(Y1090042)
浙江省自然科学基金(LQ13E050004)
关键词
仿生关节
气动肌肉
柔度
优化设计
仿真
bionic joint
pneumatic muscle
compliance
optimization
simulation
