Research On The System Of Wearable Assistant Arm Driven By PAMs

The system of wearable assistant arm is an assistive exoskeleton device and a typical man-machine integrated system.It combines the sensor technology,control technology,information acquisition technology and mobile computing technology,which enables the assistant arm to complete certain functions and tasks under the control of the wearer.it is necessary to improve the comfort,safety and portability because assistant arm directly contacts with the human body.pneumatic muscle as a new type of actuator compare with the traditional motor,hydraulic cylinder,pneumatic cylinder,with high power density ratio,good compliance and safety,lightweight,flexible,and other advantages.Therefore,the research on the system of wearable assistant arm driven by Pneumatic artificial muscle(PAM)instead of traditional motor,hydraulic cylinder,pneumatic cylinder is of great significance.The main work of this thesis is arranged as follows:First of all,this thesis introduced the background and practical significance of the research on the wearable assistant arm,analyzed the research status of the wearable assistant robot at home and abroad.and introduced the main research content of this paper.Secondly,we mastered the preparation method of pneumatic muscle actuator,made a new type pneumatic muscle actuator,designed and built the performance test experimental platform of PAM,and tested the static performance of the pneumatic muscle.Thirdly,wearable assistant arm driven by PAMs was designed.kinematics modeling of wearable assistant arm was carried out,simulation analysis based on MATLAB environment;A virtual prototype of wearable power assisted arm was built using Creo2.0,and Kinematic analysis was carried out;dynamics model of wearable power arm was established,simulation analysis in the MATLAB environment.Finally,the overall hardware scheme design of the control system was completed,and the hardware design of electronic control system and pneumatic loop system were completed according to the overall hardware scheme design.After the integration of wearable assistant arm system,open loop demonstration experiment was carried out,and control effect and the power of the wearer's arm were tested.We wrote programs to control assistant arm under arduino IDE integrated environment based on traditional PID control,improved single neuron adaptive PID control and explored the control effect of the assistant arm,Through these two kinds of control experience design the expert control rules library of assistant arm,We wrote expert PID control programs based on arduino IDE integrated environment,and explored its controlling effect on the assistant arm.Expert PID control of the assistant arm not only can effectively eliminate the steady state error when the assistant arm moves to the lowest position,but also can effectively reduce the chattering phenomenon.