新型变刚度软体手臂的设计及控制

摘要 软体机器人具有机构重构性、适应性及灵活性.基于气动系统的软体机器人具有质轻、功率密度比高、人机交互安全性高等优点，设计了一种由伸长型及收缩型气动肌肉组成的新型变刚度软体机器人手臂.根据该软体手臂的运动特性建立了运动学模型，利用MATLAB软件分析了手臂的工作空间.搭建控制实验测试平台，完成了手臂的轨迹运动控制实验，实验结果表明:跟踪阶跃信号上升时间小于2s，稳态平均误差为0.0028rad(0.16°)，正弦信号跟随响应曲线平均误差为 0.0159rad(0.911°)，手臂具有良好的可控性.
Abstract：Soft robot arms has unique capabilities in reconfigurability， adaptability， flexibility and dexterity. In particular， pneumatic soft robotic systems have advantages such as light weight， high power to weight ratio， and having inherent safety in physical human-robot interaction. A novel design of a soft robotic arm consist of both contractile and extensor pneumatic artificial muscle (PAM) was presented. Kinematic model of this arm was established， and the workspace was analyzed using MATLAB. Experiment setup was established， and motion control experiment of the arm was carried out. Experimental results showed that steady state mean error of tracking step signal is 0.0028rad(0.16°)， rise time is less than 2s; mean error of tracking sine signal is 0.0159 rad(0.911°)， which means this arm has good controllability.