CN106181999B - A kind of Pneumatic artificial muscle actuator's parameters scaling method - Google Patents
A kind of Pneumatic artificial muscle actuator's parameters scaling method Download PDFInfo
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- CN106181999B CN106181999B CN201610520056.9A CN201610520056A CN106181999B CN 106181999 B CN106181999 B CN 106181999B CN 201610520056 A CN201610520056 A CN 201610520056A CN 106181999 B CN106181999 B CN 106181999B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The present invention relates to a kind of Pneumatic artificial muscle actuator's parameters scaling methods, including (1) measurement PAM is in n air pressure piUnder maximum output power, be denoted as fmax,i, it is based on fmax,i‑piThe slope and theoretical model f of fitting a straight linemax,i=f (0, pi, θ) and slope is consistent and acquires the initial value θ of braid angle0；(2) it is solved using theoretical model and initially deforms λ without power output caused by fiber relaxation0, derive the maximum output power in the case of no initial deformation(3) it usesThe slope of matched curve again demarcates fiber angles θ；(4) since braid angle θ is adjusted, therefore λ is recalculated by (2) step again0, θ is recalculated by (3) step, such iteration, calculating is resulting when epicycle step (2)With it is each in last round of step (2)Difference meet setting threshold value, obtain the initial deformation λ of the PAM0With braid angle θ.Compared with prior art, the present invention, which has, solves the problems, such as the relaxation of fiber present in PAM, fit-up gap and fibrage angle error.
Description
Technical field
The present invention relates to a kind of Pneumatic artificial muscle (Pneumatic artificial muscle, PAM) actuator, especially
It is to be related to a kind of Pneumatic artificial muscle actuator's parameters scaling method.
Background technique
Also hold when being generally difficult to intact cooperation between silicone tube and fibre sleeving, and being assembled between silicone tube and pneumatic interface
Easily there are certain intervals.After inflation, silicone tube first expands to a certain degree, and various gaps can just pass to aerodynamic force after disappearing
Fibre sleeving, air pressure are mainly used for overcoming the flexible deformation of silicone tube.Therefore, in air pressure-maximum output power relation curve (straight line)
On air pressure can be observed be not zero, and the phenomenon that maximum output power is zero, this is not inconsistent with theoretical model, can be described as " dead zone ".It is logical
Normal way acquires overcome " dead zone " needed for atmospheric pressure value first apply this atmospheric pressure value to PAM in actual use, then will
Input of the increased atmospheric pressure value as model on this basis, the power output after prediction under various shrinkage ratios.However, this do
Method and the reason of do not meet practical generation " dead zone ", therefore subsequent power output is made to predict that error is larger, influence the control of PAM.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of Pneumatic artificial muscles
Actuator's parameters scaling method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of Pneumatic artificial muscle actuator (PAM) parameter calibration method, the calibrating parameters include initially without output
The shrinkage ratio λ of power0With angle of weave θ, the scaling method specifically includes the following steps:
(1) it is fixed on dynamometry instrument in the case where shrinkage ratio λ=0 under PAM unaerated, it is inflated, due to
The clamping of dynamometry instrument makes λ=0；Maximum output power of the PAM under n air pressure is measured, f is denoted asmax,i, wherein i=1,2,3 ...,
n；By fmax,iWith air pressure piIt is fitted using least square method, the function fitted is fmax,i=api- b, wherein a, b are positive
Constant；Based on fmax,i-piThe slope and theoretical model f of fitting a straight linemax,i=f (0, pi, θ) and slope is consistent and acquires braid angle
Initial value θ0；
(2) λ initially is deformed without power output caused by fiber relaxation using model solution0；Using trial and error procedure, one is given
λ0, calculating braid angle is θ0Theoretical model be deformed into λ0When do power, i.e. fλ0,i=f (λ0,pi,θ0), it calculates simultaneously
Maximum output power of the theoretical model in the case where being deformed into zero, i.e. f0,i=f (0, pi, θ), enable output caused by initial deformation
Power decreasing value is Δ fi=f0,i-fλ0,i, the PAM is under each air pressure in the case where next assuming there is no loose and gap
Maximum output power isIt will be allIt is used as p againiFunction to carry out least square method quasi-
It closes, if obtained function cuts square and is less than setting second threshold to get function is arrivedInitial deformation has then been determined
λ0Value, conversely, continue assume a λ0It repeats step (2)；
(3) it usesThe slope of matched curve again demarcates fiber angles θ, it is assumed that an angle, θ, each
Pressure piUnder, as use theoretical model f0,i=f (0, pi, θ) and the f that is calculated0,i-piIn the slope of curve and step (2)Slope difference is less than setting third threshold value, determines that braiding angle value at this time is θ1, conversely, executing step (4)；
(4) since braid angle θ is adjusted, the θ in theoretical model is also changed, therefore presses (2) again
Step recalculates λ0, θ therein0Value is θ1, θ is recalculated by (3) step, such iteration is obtained when in epicycle step (2)
It is eachWith it is each obtained in last round of step (2)Difference be less than setting the 4th threshold value, stop calculate, obtain
To the initial deformation λ of the PAM0With braid angle θ.
The meaning for the functional form that the step (1) fits is that maximum output power is zero when air pressure is not equal to zero, gas
Pressure is used to offset the deformation of material in PAM before fiber is tensioned.
The step (1) is based on fmax,i-piThe slope and theoretical model f of fitting a straight linemax,i=f (0, pi,θ) slope phase
Symbol acquires the initial value θ of braid angle0Specifically:
It is assumed that a θ value, with theoretical model f0,i=f (0, pi, θ), acquire each piUnder power output f0,iIf pi-
f0,iThe difference of slope of a curve and a are less than setting first threshold, then using θ value at this time as the initial value θ of braid angle0。
The PAM actuator power output f of pressurising after-contraction is related with shrinkage ratio λ, internal and external pressure difference p, fibrage angle θ, mould
The functional form of type are as follows:
F=f (λ, p, θ).
The λ=(L0-l)/L0, l is the length at certain moment of Pneumatic artificial muscle in contraction process, L0For no gas
The length of PAM under dynamic pressure and external force.
Compared with prior art, the nothing that the present invention carries out PAM does the initial deformation of power output and the mark at fibrage angle
It is fixed, so that power output model of the PAM actuator in stroke range is corrected, to solve general in Pneumatic artificial muscle actuator
The problem of all over existing fiber relaxation, fit-up gap and fibrage angle error.
Detailed description of the invention
Fig. 1 is the processing curve graph of maximum output power；
Fig. 2 is power output and shrinkage ratio graph of relation under each air pressure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiments of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without making creative work
Example is applied, all should belong to the scope of protection of the invention.
The PAM actuator power output f of pressurising after-contraction usually with shrinkage ratio λ, internal and external pressure difference p, fibrage angle θ and its
His PAM material properties itself are related, do not consider the influence of material properties itself, and f is the function of preceding 3 parameters, i.e.,
F=f (λ, p, θ)
Wherein λ=(L0-l)/L0, l is the length at certain moment of Pneumatic artificial muscle in contraction process, L0It is not pneumatic
The length of PAM under pressure and external force
Power output when theoretically λ is 0 is maximum, but due to fiber is loose and fit-up gap, when artificial pneumatic flesh
After meat generates certain deformation, just strong output.Since there are the angles of this initial deformation, fiber also to occur compared under original state
Variation makes maximum output power be less than theoretical value, and to make reality output with theoretical value there are errors.In addition, fibrage angle exists
There is also errors when manufacture, it is also desirable to demarcate.
Initial deformation ratio λ0It is as follows with the calibration process of angle of weave θ:
(1) under PAM unaerated, be fixed on dynamometry instrument the case where λ=0, it inflated, the clamping of instrument make λ=
0.Power output of the PAM under n air pressure, that is, corresponding maximum output power are measured, f is denoted asmax,i(i=1,2,3 ..., n),
Theoretically the power is the linear function of air pressure, and maximum, force is zero when air pressure is zero.The function is fitted using least square method.By
In there are the relaxation of fiber and intermittencies, therefore the function fitted is fmax,i=api- b, as shown in fig. 1, wherein a, b
The constant being positive.The meaning of the functional form is that maximum output power is zero when air pressure is not equal to zero, and atmospheric pressure is for offsetting fiber
It is tensioned the deformation of material in preceding PAM.The initial value of braid angle is sought using trial and error procedure, it is assumed that a braid angle θ, with function f0,i=f
(0,pi, θ), acquire each piUnder power output f0,iIf pi-f0,iThe difference of slope of a curve and a are sufficiently small, then by θ at this time
It is worth the initial value θ as braid angle0。
(2) using model solution initial deformation λ caused by fiber relaxation0.Using trial and error procedure, a λ is given0, calculate reason
λ is being deformed by model0When power output, i.e. fλ0,i=f (λ0,pi,θ0), while calculating theoretical model and being deformed into zero feelings
Maximum output power under condition, i.e. f0,i=f (0, pi,θ0), enabling power output decreasing value caused by initial deformation is Δ fi=f0,i-
fλ0,i, maximum output power of the PAM under each air pressure is in the case where next assuming there is no loose and gapIt will be allIt is used as p againiFunction carry out least square method fitting, if obtained
Function intercept is sufficiently close to zero to get function is arrivedInitial deformation λ has then been determined0Value, conversely, after extending leave
A fixed λ0It repeats the above process.
(3) fiber angles θ is demarcated again, it is assumed that an angle, θ, in each pressure piUnder, when use theoretical model
f0,i=f (0, pi, θ) and the f that is calculated0,i-piIn the slope of curve and step (2)After the slope of curve is close enough, really
The value θ of fixed braid angle at this time1, conversely, continuing to repeat this step solution braid angle θ.
(4) since braid angle θ is adjusted, the θ in ideal power output model is also changed, therefore is pressed again
(2) step recalculates λ0, θ in (2) step0Value is θ1, θ is recalculated by (3) step, such iteration works as gainedWith last round of calculatingAfter close enough, stop calculating, obtain the initial deformation λ of the PAM0With braid angle θ.
To a certain air pressure piIt is f with the power output model under measurement shrinkage ratio λλ,p=f (λ+λ0, p, θ), total shrinkage ratio λ+λ0
With power output fλ,pRelation curve and λ0As shown in Figure 2.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (5)
1. a kind of Pneumatic artificial muscle actuator (PAM) parameter calibration method, calibrating parameters include contraction initially without power output
Compare λ0With fibrage angle θ, which is characterized in that the scaling method specifically includes the following steps:
Step (1) is fixed on dynamometry instrument in the case where shrinkage ratio λ=0 under PAM unaerated, is inflated to it, due to
The clamping of dynamometry instrument makes λ=0；Maximum output power of the PAM under n air pressure is measured, f is denoted asmax,i, wherein i=1,2,3 ...,
n；By fmax,iWith air pressure piIt is fitted using least square method, the function fitted is fmax,i=api- b, wherein a, b are positive
Constant；Based on fmax,i-piThe slope and theoretical model f of fitting a straight linemax,i=f (0, pi, θ) and slope is consistent and acquires fibrage
The initial value θ at angle0；
Step (2) is using model solution by the caused initially shrinkage ratio λ without power output of fiber relaxation0；Using trial and error procedure, give
One λ0, calculating fibrage angle is θ0Theoretical model be deformed into λ0When do power, i.e. fλ-0,i=f (λ0,pi,θ0), together
When calculate maximum output power of the theoretical model in the case where being deformed into zero, i.e. f0,i=f (0, pi, θ), enable initial deformation make
At power output decreasing value be Δ fi=f0,i-fλ0,i, the PAM is each in the case where next assuming there is no loose and gap
Maximum output power under air pressure isIt will be allIt is used as p againiFunction carry out minimum two
Multiplication fitting, if obtained function cuts square and is less than setting second threshold to get function is arrivedIt has then determined just
Begin the shrinkage ratio λ without power output0Value, conversely, continue assume a λ0It repeats step (2)；
Step (3) is usedThe slope of matched curve again demarcates fibrage angle θ, it is assumed that a fibrage angle
θ, in each pressure piUnder, as use theoretical model f0,i=f (0, pi, θ) and the f that is calculated0,i-piThe slope of curve and step (2)
InSlope difference is less than setting third threshold value, determines that fibrage angle at this time is θ1, conversely, executing step (4)；
Since fibrage angle θ is adjusted, the θ in theoretical model is also changed step (4), therefore again by the
(2) step recalculates λ0, θ therein0Value is θ1, by (3) step recalculate θ, such iteration, in epicycle step (2)
That arrives is eachWith it is each obtained in last round of step (2)Difference be less than setting the 4th threshold value, stop calculate,
Obtain the shrinkage ratio λ of the initial no power output of the PAM0With fibrage angle θ.
2. a kind of Pneumatic artificial muscle actuator (PAM) parameter calibration method according to claim 1, which is characterized in that
The meaning for the functional form that the step (1) fits is that maximum output power is zero when air pressure is not equal to zero, and atmospheric pressure is used for
Offset the deformation of material in PAM before fiber is tensioned.
3. a kind of Pneumatic artificial muscle actuator (PAM) parameter calibration method according to claim 1, which is characterized in that
The step (1) is based on fmax,i-piThe slope and theoretical model f of fitting a straight linemax,i=f (0, pi, θ) and slope is consistent and acquires fibre
Tie up the initial value θ of braid angle0Specifically:
It is assumed that a θ value, with theoretical model f0,i=f (0, pi, θ), acquire each piUnder power output f0,iIf pi-f0,iIt is bent
The slope of line and the difference of a are less than setting first threshold, then using θ value at this time as the initial value θ at fibrage angle0。
4. a kind of Pneumatic artificial muscle actuator (PAM) parameter calibration method according to claim 1, which is characterized in that
The PAM actuator power output f of pressurising after-contraction is related with shrinkage ratio λ, internal and external pressure difference p, fibrage angle θ, the function of model
Form are as follows:
F=f (λ, p, θ).
5. a kind of Pneumatic artificial muscle actuator (PAM) parameter calibration method according to claim 4, which is characterized in that
The λ=(L0-l)/L0, l is the length at certain moment of Pneumatic artificial muscle in contraction process, L0For no Pneumatic pressure and
The length of PAM under external force.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0938955A1 (en) * | 1997-03-28 | 1999-09-01 | Fanuc Ltd | Work line searching method and robot/sensor system having work line searching function |
| WO2009084305A1 (en) * | 2007-12-27 | 2009-07-09 | Murata Manufacturing Co., Ltd. | Actuator array and method for driving actuator array |
| US20120228991A1 (en) * | 2011-02-07 | 2012-09-13 | Vranish John M | Tape muscle |
| WO2012148472A2 (en) * | 2010-11-19 | 2012-11-01 | President And Fellows Of Harvard College | Soft robotic actuators |
| CN104029217A (en) * | 2014-06-17 | 2014-09-10 | 东北大学 | Pneumatic-muscled bionic joint based on universal-joint parallel mechanism |
| WO2015066286A1 (en) * | 2013-11-02 | 2015-05-07 | Cornell University | System and methods for actuating an object |
-
2016
- 2016-07-05 CN CN201610520056.9A patent/CN106181999B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0938955A1 (en) * | 1997-03-28 | 1999-09-01 | Fanuc Ltd | Work line searching method and robot/sensor system having work line searching function |
| WO2009084305A1 (en) * | 2007-12-27 | 2009-07-09 | Murata Manufacturing Co., Ltd. | Actuator array and method for driving actuator array |
| WO2012148472A2 (en) * | 2010-11-19 | 2012-11-01 | President And Fellows Of Harvard College | Soft robotic actuators |
| US20120228991A1 (en) * | 2011-02-07 | 2012-09-13 | Vranish John M | Tape muscle |
| WO2015066286A1 (en) * | 2013-11-02 | 2015-05-07 | Cornell University | System and methods for actuating an object |
| CN104029217A (en) * | 2014-06-17 | 2014-09-10 | 东北大学 | Pneumatic-muscled bionic joint based on universal-joint parallel mechanism |
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