Research On Design And Control System Of Pneumatic Muscle-Based Manipulator

The article “Development Strategy and Key Directions of Robots in Developed Countries” published by CAICT(China Academy of Information and Communications Technology)mentioned that countries have strengthened the development of special robots application for special environments.As a kind of special robot driven by the non-electric motor,the inflatable mechanical arm which has foldability,lightweight feature and good man-machine cooperation ability plays an important role in environmental investigation and detection.This thesis will take the artificial pneumatic muscles as the driving source for the inflatable manipulator and establish a two-degree-of-freedom single-joint pneumatic manipulator after reaching the related academic articles about the design of structure and control strategy.Finally,the relevant parameters are tested by experiments,which lays a foundation for the long inflatable multi-joint manipulator that can be put into use.The joint rotation model is established based on the structure design of inflatable manipulator.After the research on the inflatable arm material and the artificial pneumatic muscle,the manufacture of the inflatable arm and the model selection of the artificial pneumatic muscle are completed.Aiming at the problem of inflatable material are out of shape under tension state,the simulation analysis is carried out to optimize the structure to reduce the nonlinear deformation of the inflatable arm when the artificial pneumatic muscle contracts.At the same time,adopting the method of finite element analysis to simulate inflation and deflation process,and using ABAQUS Software to begin the simulation analysis.Compared with the actual experimental process,trying to let the simulation model to more close the actual inflatable arm,which strengthens on the perspective of inflation and deflation process.Aiming at the nonlinear and hysteresis characteristics of the artificial pneumatic muscle,a combination of the theoretical model and experimental model is adapted to conduct the research.On the one hand,for inferring the mathematical model of artificial pneumatic muscle based on the model established by Professor Chou and Professor Tondu.On the other hand,by building a test platform for pneumatic muscle characteristics and verifying the correctness of the pneumatic muscle model,the static model of single artificial pneumatic muscle is given.In the term of command,using the reduced expansion observer and nonlinear error feedback controller to Correct the total disturbance of the system.The convergence is proved to ensure that the actual input pressure is close to the expected pressure.When studying the relationship between input pressure and rotation Angle,it is difficult to determine the relationship through modeling because there are many deformations in the rotation of the inflatable arm.This paper will use the Vicon motion capture system to identify the rotation process of the inflatable division.At the same time,MATLAB Software will be used to fit the collected data and to determine the relationship between the rotation Angle of the arm and the air pressure charged by the pneumatic muscle,and to complete the calibration of the rotation process.An experimental prototype of inflatable mechanical arm driven by the pneumatic muscle is completed,and the completed inflatable arm is tested to measure its using parameters to verify the stability of the pneumatic system of the inflatable mechanical arm.