PAM-Motor复合驱动仿生肩关节结构设计及动力学特性研究
Study on Structural Design and Dynamic Characteristics of Bionic Shoulder Joint Driven by PAM-Motor

针对仿生机器人关节重载情况下难以实现精确控制的问题，以及气动人工肌肉（Pneumatic artificial muscle，PAM）控制非线性、时变性、滞后性等特点，受生物关节在肌肉和骨骼的协作下产生运动的启发，提出一种气动人工肌肉和电机复合驱动的新型驱动仿生肩关节结构设计，用于提高仿生机器人肩关节的控制精度及驱动性能。基于Chou模型及能量守恒定理，推导了复合驱动仿生肩关节结构参数与动力学特性之间的映射模型；通过构建基于拉格朗日动力学的PAM-Motor复合驱动系统俯仰运动和侧摆运动的动力学模型，探究了仿生肩关节复合驱动机理。研究结果表明，PAM-Motor复合驱动仿生肩关节具有良好的精度、灵巧度和承载能力，验证了复合驱动仿生肩关节结构的合理性和有效性。
Against at the problem of accurate control in the case of heavy load of bionic robot under heavy load and the characteristics of nonlinear, time-varying, hysteresis quality in pneumatic artificial muscles (PAM), a kind of PAM and motor driving model driven bionic shoulder design is proposed according to biological inspired joints move in collaboration with muscle and bone, for improving the control precision of the bionic robot shoulder joint and driving performance. Based on the Chou model and the energy conservation theorem, the mapping model between the structural parameters of the bionic shoulder joint and the dynamic characteristics of the composite drive is derived. After establishing the dynamic model of PAM-Motor composite drive system based on Lagrange dynamics pitch motion and side swing motion, the composite driving mechanism of bionic shoulder joint is explored. The results show that PAM-Motor composite driving bionic shoulder joint possesses excellent strength, accuracy, dexterity and bearing capacity, which verify the rationality and effectiveness of the bionic shoulder joint structure