气动人工肌肉驱动多自由度平台的非线性特性

华南理工大学学报(自然科学版) ›› 2004, Vol. 32 ›› Issue (9): 41-45.

气动人工肌肉驱动多自由度平台的非线性特性

施光林¹ 周爱国² 钟廷修¹

1．上海交通大学机电控制研究所上海200030；2．同济大学机械工程学院上海200092

收稿日期:2003-09-10 出版日期:2004-09-20 发布日期:2015-09-09
通信作者: 施光林（1963－）男副教授博士主要从事液压元件、非线性控制、并联机器人和气动人工肌肉的研究． E-mail:glshi＠263.net
作者简介:施光林（1963－）男副教授博士主要从事液压元件、非线性控制、并联机器人和气动人工肌肉的研究．

Nonlinear Characteristics of the Multi -DOF Platform Driven by Pneumatic Artificial Muscle

Shi Guang- lin¹ Zhou Ai- guo² Zhong Ting- xiu¹

1．Institute of Mechatronics ControlShanghai Jiaotong Univ．Shanghai200030China；
2．College of Mechanical EngineeringTongji Univ．Shanghai200092China

Received:2003-09-10 Online:2004-09-20 Published:2015-09-09
Contact: 施光林（1963－）男副教授博士主要从事液压元件、非线性控制、并联机器人和气动人工肌肉的研究． E-mail:glshi＠263.net
About author:施光林（1963－）男副教授博士主要从事液压元件、非线性控制、并联机器人和气动人工肌肉的研究．

摘要/Abstract

摘要： 以气动人工肌肉为驱动器构造了一个新型的多自由度平台实验系统基于对其运动特性的分析建立了以微分方程表达的系统的非线性动力学模型并进一步将其变换成状态空间的仿射非线性表达形式．通过数字仿真结果和实验结果的对比证明了所建立的数学模型的正确性并得到了该系统的一系列非线性特性．结果表明气动人工肌肉驱动的多自由度平台具有很好的可控性及稳定性．

关键词: 气动人工肌肉, 多自由度平台, 非线性特性

Abstract: An experimental system of the novel mult- i degree of freedom （Mult- i DOF） platform driven by pneumatic artificial muscle （PAM） was constructed in this paper．Based on the analysis of the kinematic property of the systema nonlinear dynamic model of the platform system was established in the form of a differential equation．Thenit was transformed into the state space with the style of an affine nonlinear model．Furthermoreby making a comparison between the numerical simulated and the experimental resultsthe correctness of the model was proved and the nonlinear characteristics of the system were obtained．It is concluded that the mult- i DOF platform driven by PAM is of excellent controllability and stability．

Key words: pneumatic artificial muscle, mult- i DOF platform, nonlinear characteristic

施光林周爱国钟廷修. 气动人工肌肉驱动多自由度平台的非线性特性[J]. 华南理工大学学报(自然科学版), 2004, 32(9): 41-45.

Shi Guang- lin Zhou Ai- guo Zhong Ting- xiu. Nonlinear Characteristics of the Multi -DOF Platform Driven by Pneumatic Artificial Muscle[J]. Journal of South China University of Technology(Natural Science Edition), 2004, 32(9): 41-45.

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