气动人工肌肉及其在双足机器人中的应用.ppt

3、PAM在双足步行机器人中的应用 气动人工肌肉是气动驱动器的一种，气动人工肌肉与普通的气缸不同，它是一种新型的拉伸型气动执行元件。它不仅具有气压驱动器的一些本质特征，而且还具有自己独特的力输出特性。 输出力/自重比大，10倍于相同直径气缸所产生的力，相同直径气缸重量的1/8，适合作为运动装置的驱动器； 较高的动态特性，由于没有运动部件，可以实现高速运动(最大可达500m/s2和3m/s，依赖于压力、负载和固定装置)； 定位方便，通过调节压力可轻松实现工况过程中定位； 结构简单，重量轻，易于小型化； 柔性好，不会损害操作对象； 工作过程中产生的热、噪声等有害物质少，且适合恶劣的工作环境，包括在水下工作； 价格低廉，维护方便； 表 McKibben型肌肉与生物肌肉的比较 从科学研究应用角度来看，高功率/重量比和高功率/体积比是气动肌肉相比较于传统驱动器最明显的优点，其次它具有柔性结构、力学性能与生物肌肉相似，这使得气动肌肉在仿生机器人、医疗康复、工业工程、航空航天等多个领域具有十分良好的应用前景。 A. Biorobotic Applications Shadow Biped Walker A pioneering PAM–actuated robot has been the Shadow Biped Walker by Shadow Robot Co., a life–size humanoid robot that has been in development since 1988. Twenty–eight PAMs (fourteen on each leg) were acting across the eight joints of the robot, enabling a total of twelve Degrees of Freedom (DOF). 3.1 气动人工肌肉的应用领域介绍 The Airic’s Robotic Arm Festo AG Co. constructed the ―Airic’s robotic arm, which is depicted in with artificial bones and muscles. In this robot the bone structure was moved via 30 PAMs with the use of very small valves based on piezo technology. The ―”Aqua ray” robot Festo AG Co. introduced the ―”Aqua ray robot, a remotely controlled fish using six PAMs in three antagonistic pairs that move the two wings and the tail with the help of artificial tendons. B. Medical Applications A PAM–actuated isokinetic equipment The development of a PAM–actuated isokinetic equipment, designed for recovery exercises of the hip and knee joints. A wearable power assist glove driven by rubber PAMs has been described. This device was able to assist the bending motion and increase the grasping force of the fingers through the installation of curved rubber PAMs. C. Industrial Applications A two–DOF planar robotic manipulator that assisted in handling of heavy loads and was actuated by Pleated Pneumatic Artificial Muscles. In the gripping process, the pneumatic artificial muscle was being