【作者】 周泉；

【导师】 张立彬；

【作者基本信息】 浙江工业大学 ， 机械电子工程， 2003， 硕士

【摘要】 本论文研究了一种新型的气动执行器—柔性气动球关节。相对于一般的执行器，柔性球关节具有安全可靠、柔性、结构简单等许多优点。首先介绍了当前一种新型执行器—气动驱动器的研究状况，提出了柔性气动球关节，介绍了气动球关节的原理，建立并分析了其静态和动态模型。针对气动球关节运动的特点提出了一种姿态传感系统，对该传感系统的原理和结构作了分析。设计和制作了气动驱动器的原型，建立实验系统，进行了一系列的静态和动态实验。将静态实验的结果与仿真结果进行了对比，结果表明系统的静态模型与实际吻合得比较好。球关节系统开环动态响应无超调，上升速度较慢，通过采取数字PID控制、模糊控制以及模糊PID控制算法能达到比较好的控制效果。由于加工工艺的原因，论文中的球关节的运动只限于小变形(弯曲角在20°以内)。进一步的研究可以在优化结构、完善加工工艺、检测系统、改善控制算法的基础上对关节的大变形进行研究。更多还原

【Abstract】 A new type of pneumatic actuator, pneumatic spherical joint is studied in this thesis. Compared with conventional actuators, it has many advantages such as high safety and reliability, flexibility and simple structure. First, the progress of research work on new-type pneumatic actuators is introduced. Then the principles of this actuator are presented, on which the static and dynamic mathematical models are constructed and analyzed. In order to measure the deformations of the joint, a posture sensor system is presented. A prototype of the model is manufactured, and an experiment system built up, and then a series of static and dynamic experiments are carried out. We compare the results of the experiments with those of simulations, and reach conclusions as follow: the static model matches well with the experiment; the pose sensor system works well. The open loop response of the joint has the apparent characteristic of non-overshot and slow rising. Under the algorithms of digital PID, fuzzy,fuzzy PID control, the joint has a satisfactory close loop response. Limited by immature manufacturing technology, the movement of this joint is constrained to little range of deformation ( bending angle no more than 20) . Further research can be performed on large deformation of this joint based on structure optimization, improvement on manufacturing technology, posture sensor system and control algorithms.更多还原