气动人工肌肉上肢仿生关节设计_项超群.pdfVIP

2014 年第 3 期 液压与气动 101  doi ∶ 10． 11832 /j． issn． 1000－4858． 2014． 03． 026 气动人工肌肉上肢仿生关节设计 项超群，杨 辉，柳 强，胡理通，郝丽娜* (东北大学 机械工程与自动化学院，辽宁 沈阳 110819) 摘 要:气动系统以其具有结构简单、无污染、维修方便等优点，得到越来越广泛的应用。基于人体的拮 抗肌对拉驱动原理，利用气动人工肌肉(PAM) 驱动器，设计了三自由度(3-DOF) 的仿生关节。在 Adams 环 境下建立关节模型虚拟样机，并对其进行了运动仿真。仿真结果表明，该仿生关节结构运动曲线平滑、运动 平稳、柔顺性好，满足设计要求。除此之外，对加工出的原理样机进行了可行性实验验证，绕 X 轴的旋转实 验表明: a． 当充气压力越大，前臂平台转角速度越快，b． 当充气压力在 0. 2 MPa 及以上时前臂平台转角达到 所需角度。绕 Z 轴的转角实验表明，前臂圆盘的转角范围为可达所需角度，验证了机构的可行性。 关键词:仿生关节;气动人工肌肉(PAM);三自由度(3-DOF);运动仿真;可行性实验验证 中图分类号:TH138;TP242 文献标志码:B 文章编号:1000-4858(2014)03-0101-04 Design of Upper Limb Bionic Joint Driven by Pneumatic Artificial Muscles XIANG Chao-qun，YANG Hui，LIU Qiang，HU Li-tong，HAO Li-na* (School of Mechanical Engineering ＆ Automation，Northeastern Univ． ，Shenyang，Liaoning 110819) Abstract: Pneumatic systems which have the advantages of simple structure，no pollution and easy maintenance have gained more and more popularity． Based on the principle of antagonist muscle，a 3 － DOF bionic elbow joint is actuated by pneumatic artificial muscle ( PAM)． In the environment of ADAMS，a virtual prototype of the joint model was established，and the motion simulation has been done． The simulation results show that the motion of bionic joint is smooth and steady，and it has a good flexibility，which can meet the design requirements． Besides， experimental verification was carried out on the principle prototype，and experiment of rotation of bionic joint a- round the X axis shows: a． the higher inflation pressure is applied on the PAM，the quicker the platform of forearm will rotate; b． when