基于气动人工肌肉隔振平台的研究（可复制）.pdf

华中科技大学硕士学位论文
摘要
气动人工肌肉是一种新型的拉伸型气动执行元件,已经引起世界各地专家的广泛
关注。本文在基于气动人工肌肉比较成熟的输出力模型及实验研究上,对气动人工肌
肉等压、等容、等力及刚度等基本特性进行了概括分析,对气动人工肌肉驱动的直线
关节的静态驱动特性进行了理论分析和实验研究,并采用气动人工肌肉驱动的直线关
节作为主动作动器,建立了基于气动人工肌肉的隔振平台系统。
首先,基于气动人工肌肉输出力的理想模型,对气动人工肌肉的基本特性进行了
分析及仿真,将气动人工肌肉视为变刚度弹簧,通过对比一般的静态刚度的模型,采
用数学变形法推导出较精确的气动人工肌肉弹簧的静态刚度表达式,为气动人工肌肉
驱动的直线关节的理论分析及应用奠定了基础。
其次,建立了气动人工肌肉驱动的直线关节初始工作条件,即平衡位置的静态特
性及压力等幅反向变化和任意变化的静态驱动特性的数学模型,并在理论分析的基础
上,对气动人工肌肉驱动的直线关节的静态驱动特性进行了仿真及实验研究,验证了
将气动人工肌肉视为弹簧数学简化模型的合理性,并得出了直线关节的静态刚度表达
式和仿真曲线,为直线关节的进一步应用打下基础。
最后,针对气动人工肌肉驱动直线关节的驱动特点,建立了以直线关节为作动器
的主动隔振平台系统及其动力学模型,对其主动控制、被动控制的隔振效果进行了仿
真研究,通过实验验证了气动人工肌肉驱动的直线关节可以应用于低频范围内的主动
隔振控制系统中。


关键词:气动人工肌肉驱动直线关节刚度特性仿真主动隔振平台


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华中科技大学硕士学位论文
Abstract
The pneumatic muscle actuator (PMA) is a novel pneumatic actuator, which has been
drawn attention by the specialists in many countries. By means of simulation and
experiments which have been done and accepted generally, basic static characteristics of
the PMA,such as pressure, force, length and stiffness of linear joint driven by PMA are
studied in the paper. Based on the characteristics analysis results of the linear joint driven
by PMA , a active damping platform system is designed.
Firstly, based on the realistic model which mon to universal, the static
characteristics is analysed. And considering PMA as a variable stiffness spring, a new
simplified static stiffness expression is pared to the general models in some
other papers. Also, static characteristics of linear joint driven by PMA are studied by
method of experiment and simulation and further the active damping control system based
on PMA.
Secondly, the model of the static characteristics of the initial working conditions and
of the working conditions with the equally-changed pressure and variable pressure is
presented. Based on such theory analysis results, a experiment is presented about the static
drive characteristics of the linear joint driven by PMA,and the stat