CN107943124A - A kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback - Google Patents
A kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback Download PDFInfo
- Publication number
- CN107943124A CN107943124A CN201711227814.9A CN201711227814A CN107943124A CN 107943124 A CN107943124 A CN 107943124A CN 201711227814 A CN201711227814 A CN 201711227814A CN 107943124 A CN107943124 A CN 107943124A
- Authority
- CN
- China
- Prior art keywords
- artificial muscle
- hydraulic
- pneumatic
- muscle
- voltage signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
Abstract
The invention discloses a kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback, it includes the main joint system using Pneumatic artificial muscle driving and the slave articular system using hydraulic artificial muscle driving；And the position voltage signal of the main joint system can be fed back to from the input terminal of articular system so that tracking the position voltage signal from articular system carries out corresponding position corner action, while described from the torque voltage signal of articular system the input terminal of main joint system can be fed back to so that main joint system tracks the torque voltage signal is acted.Can be compatible with briny environment during present invention work, environment friendly and pollution-free, master ＆ slave control can realize that hydraulic pressure mechanical arm follows operator's arm to be synchronized with the movement, easy to operate；The force feedback in driven hydraulic artificial muscle joint can be given to active pneumatic artificial-muscle joint at the same time, operating personnel is had direct feel to the stress in artificial-muscle joint.
Description
Technical field
The present invention relates to master-slave telecontrol robotic arm, job that requires special skills manipulator and deep ocean work equipment etc. field, specifically
Say it is to be related to one kind to be applied to master-slave mode remote operation manipulator in abyssal environment.
Background technology
When carrying out operation at deep-sea, diver is limited be subject to diving depth, to complete in big depth underwater operation, generally
Need to complete task using remote control underwater robot (ROV).The submarine mechanical arm that ROV is carried at this stage is oil pressure actuated,
There are seawater, inwardly leakage makes it easily be polluted by underwater environment for it, seriously affects its service life, outwards leakage then pollutes fluid
Marine environment, itself is heavy and needs fuel tank and pressure compensator, is unfavorable for realizing the drawback such as lightness and miniaturization.Separately
Outside, it is also necessary to which operator is controlled mechanical arm by the control stick of remote controler.How free controlled using this mode of operation
When spending mechanical arm, there are inconvenience, such as controls multi-degree-of-freemechanical mechanical arm will to the technology of the structurally and operationally personnel of control stick
Ask high；In addition, after manipulator catches object, operator does not have corresponding stress impression, can influence operator yet
Control accuracy.
The content of the invention
In view of defects in the prior art, the invention aims to provide a kind of master with position/force Two-way Feedback
From formula artificial-muscle articular system, which can be compatible with briny environment when working, and environment friendly and pollution-free, master ＆ slave control can be realized
Hydraulic pressure mechanical arm follows operator's arm to be synchronized with the movement, easy to operate；At the same time can by driven hydraulic artificial muscle joint by
Active pneumatic artificial-muscle joint is given in force feedback, operating personnel is had direct feel to the stress in artificial-muscle joint.
To achieve these goals, technical scheme：
A kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback, it is characterised in that：
Including the main joint system using Pneumatic artificial muscle driving and using hydraulic artificial muscle driving from joint
System；And the position voltage signal of the main joint system can be fed back to from the input terminal of articular system so that from joint system
System tracks the position voltage signal and carries out corresponding position corner action, while the torque voltage signal from articular system
The input terminal of main joint system can be fed back to so that the main joint system tracking torque voltage signal is acted.
Based on such scheme, further preference,
The main joint system subtracts including the first Pneumatic artificial muscle, the second Pneumatic artificial muscle, the first pressure reducing valve, second
Pressure valve, the first Pneumatic artificial muscle pulling force sensor, the second Pneumatic artificial muscle pulling force sensor, pneumatic supply, artificial pneumatic flesh
Meat initial voltage controller, Pneumatic artificial muscle PID controller, joint wheel, the artificial pneumatic of Pneumatic artificial muscle mechanical joint
Muscle driving wire, feedback Pneumatic artificial muscle comparator, the first Pneumatic artificial muscle bias voltage comparator, the second artificial pneumatic
Muscle bias voltage comparator, Pneumatic artificial muscle pulling force comparator, Pneumatic artificial muscle rack and Pneumatic artificial muscle close
Save supporting rod；Wherein, the first Pneumatic artificial muscle pulling force sensor is detecting the value of thrust of the first Pneumatic artificial muscle；
The second Pneumatic artificial muscle pulling force sensor is detecting the value of thrust of the second Pneumatic artificial muscle；The pneumatic people of feedback
Work muscle comparator closes to compare the torque voltage signal corresponding to joint actuated by pneumatic muscles system with hydraulic artificial muscle
Save the difference of the torque voltage signal of system feedback and input the difference obtained to the Pneumatic artificial muscle PID control
Device；Wherein, the torque electricity that the torque voltage signal corresponding to joint actuated by pneumatic muscles system passes through the first Pneumatic artificial muscle
The torque voltage signal that pressure signal subtracts the second Pneumatic artificial muscle obtains, the torque voltage letter of first Pneumatic artificial muscle
Number it is that the joint that Pneumatic artificial muscle mechanical joint is multiplied by by the value of thrust of the first Pneumatic artificial muscle is taken turns radius and obtained, it is described
The torque voltage signal of second Pneumatic artificial muscle is to be multiplied by Pneumatic artificial muscle by the value of thrust of the second Pneumatic artificial muscle
The joint wheel radius of mechanical joint obtains；The second Pneumatic artificial muscle bias voltage comparator is calculating artificial pneumatic flesh
The sum of voltage signal that the voltage signal of meat PID controller output is exported with Pneumatic artificial muscle initial voltage controller simultaneously will meter
Result is calculated to input to the first pressure reducing valve；The first Pneumatic artificial muscle bias voltage comparator is calculating Pneumatic artificial muscle
The difference of the voltage signal of PID controller output and the voltage signal of Pneumatic artificial muscle initial voltage controller output will simultaneously calculate
As a result input to the second pressure reducing valve.
Based on such scheme, further preference,
It is described to include the first hydraulic artificial muscle, the second hydraulic artificial muscle, the first proportional throttle valve, the from articular system
Two proportional throttle valves, the first hydraulic artificial muscle pulling force sensor, the second hydraulic artificial muscle pulling force sensor, the first fixer
Resistance, the second fixer resistance, hydraulic power source, hydraulic artificial muscle bias voltage circuit, hydraulic artificial muscle PID controller, hydraulic pressure people
Take turns, compare from joint gain circuitry, hydraulic artificial muscle driving wire, feedback hydraulic artificial muscle in the joint of work muscle mechanical joint
Device, the first hydraulic artificial muscle bias voltage comparator, the second hydraulic artificial muscle bias voltage comparator, hydraulic artificial muscle
Pulling force comparator, hydraulic artificial muscle rack and hydraulic artificial muscle articular branches strut；Wherein, the first hydraulic pressure artificial muscle
Meat pulling force sensor is detecting the value of thrust of the first hydraulic artificial muscle；The second hydraulic artificial muscle pulling force sensor is used
To detect the value of thrust of the second hydraulic artificial muscle；The hydraulic artificial muscle pulling force comparator calculates the first hydraulic pressure to compare
The difference of the value of thrust of artificial-muscle and the value of thrust of the second hydraulic artificial muscle is using anti-as hydraulic artificial muscle articular system
The torque voltage signal of feedback；The feedback hydraulic artificial muscle comparator is anti-to compare calculating joint actuated by pneumatic muscles system
The difference for the position voltage signal that the position voltage signal of feedback is fed back with hydraulic artificial muscle articular system is simultaneously inputted to hydraulic pressure people
Work muscle PID controller；The voltage signal of the hydraulic artificial muscle PID controller output is inputted to the first hydraulic artificial muscle
Bias voltage comparator；The first hydraulic artificial muscle bias voltage comparator calculates hydraulic artificial muscle PID to compare
The difference of the voltage signal of voltage signal and hydraulic artificial muscle the bias voltage output of controller output will simultaneously be calculated
Difference is inputted to the first proportional throttle valve；The second hydraulic artificial muscle bias voltage comparator is calculating hydraulic pressure artificial muscle
The adduction value for the voltage signal that the voltage signal of meat PID controller output is exported with hydraulic artificial muscle bias voltage will simultaneously be counted
The adduction value calculated is inputted to the second proportional throttle valve.
Compared with prior art, beneficial effects of the present invention：
1st, the corresponding hydraulic artificial muscle of system of the present invention is compatible with briny environment, seawater can be directly as hydraulic pressure people
The hydraulic power source of work muscle, woth no need to fuel tank and pressure compensator, greatly simplify underwater units, compact-sized；
2nd, telescopic rod of the corresponding hydraulic artificial muscle of system of the present invention without conventional hydraulic mechanism, there is no dynamic close
Seal, be not in seawater to internal leakage, influence service life of equipment while be not in that the internal oil pollution environment etc. that leaks is asked
Topic；
3rd, the present invention believes the corner feedback signal of joint actuated by pneumatic muscles as the input in hydraulic artificial muscle joint
Number, realize the master ＆ slave control of position, be conducive to control of the operating personnel to hydraulic artificial muscle；
4th, the present invention believes the torque feedback signals in hydraulic artificial muscle joint as the input of joint actuated by pneumatic muscles
Number, realize the master ＆ slave control of torque, operating personnel can be made to experience the stress to hydraulic artificial muscle joint.
Brief description of the drawings
Fig. 1 is the master-slave mode artificial-muscle articular system with position/force Two-way Feedback；
In figure：1st, the first hydraulic artificial muscle, the 2, second hydraulic artificial muscle, the 3, first proportional throttle valve, the 4, second ratio
Example throttle valve, the 5, first hydraulic artificial muscle pulling force sensor, the 6, second hydraulic artificial muscle pulling force sensor, 7, first fixes
Liquid hinders, the resistance of the 8, second fixer, and 9, hydraulic power source, 10, hydraulic artificial muscle bias voltage, 11, hydraulic artificial muscle PID control
Device, 12, the joint of hydraulic artificial muscle mechanical joint wheel, the 13, first Pneumatic artificial muscle, the 14, second Pneumatic artificial muscle,
15th, the first pressure reducing valve, the 16, second pressure reducing valve, the 17, first Pneumatic artificial muscle pulling force sensor, the 18, second Pneumatic artificial muscle
Pulling force sensor, 19, pneumatic supply, 20, Pneumatic artificial muscle initial voltage controller, 21, Pneumatic artificial muscle PID controller,
22nd, the joint wheel of Pneumatic artificial muscle mechanical joint, 23, from joint gain circuitry, 24, hydraulic artificial muscle driving wire, 25, gas
Dynamic artificial-muscle driving wire, 26, hydraulic artificial muscle rack, 27, Pneumatic artificial muscle rack, 28, hydraulic artificial muscle joint
Supporting rod, 29, joint actuated by pneumatic muscles supporting rod, 30, feedback hydraulic artificial muscle comparator, the 31, first hydraulic pressure artificial muscle
Meat bias voltage comparator, the 32, second hydraulic artificial muscle bias voltage comparator, 33, hydraulic artificial muscle pulling force comparator,
34th, Pneumatic artificial muscle comparator, the 35, first Pneumatic artificial muscle bias voltage comparator, the 36, second artificial pneumatic flesh are fed back
Meat bias voltage comparator, 37, Pneumatic artificial muscle pulling force comparator.
Embodiment
For make the object, technical solutions and advantages of the present invention it is clearer, below in conjunction with attached in the embodiment of the present invention
Scheme, technical scheme be clearly and completely described, obviously, described embodiment be that a part of the invention is real
Apply example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property work under the premise of all other embodiments obtained, belong to the scope of protection of the invention.
A kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback as shown in Figure 1, is characterized in that：
Including main joint system and from articular system two large divisions, main joint system using Pneumatic artificial muscle driving, from articular system
Driven using hydraulic artificial muscle；
The main joint system include the first Pneumatic artificial muscle 13, the second Pneumatic artificial muscle 14, the first pressure reducing valve 15,
Second pressure reducing valve 16, the first Pneumatic artificial muscle pulling force sensor 17, the second Pneumatic artificial muscle pulling force sensor 18, pneumatic supply
19th, Pneumatic artificial muscle initial voltage controller 20, Pneumatic artificial muscle PID controller 21, Pneumatic artificial muscle mechanical joint
Joint wheel 22, Pneumatic artificial muscle driving wire 25, feedback Pneumatic artificial muscle comparator 34, the biasing of the first Pneumatic artificial muscle
Voltage comparator 35, the second Pneumatic artificial muscle bias voltage comparator 36, Pneumatic artificial muscle pulling force comparator 37, pneumatic people
Work muscle rack 27 and joint actuated by pneumatic muscles supporting rod 29；
Wherein, the pneumatic supply 19 be connected with the import of the first pressure reducing valve 15, the import of the second pressure reducing valve 16, so that
First pressure reducing valve 15, the second pressure reducing valve 16 are connected in parallel；The outlet of first pressure reducing valve 15 and the first Pneumatic artificial muscle 13
It is connected；The outlet of second pressure reducing valve 16 is connected with the second Pneumatic artificial muscle 14；First Pneumatic artificial muscle 13 1
End is connected with 25 one end of Pneumatic artificial muscle driving wire, 25 other end of Pneumatic artificial muscle driving wire and Pneumatic artificial muscle
The joint wheel 22 of mechanical joint is connected；Second Pneumatic artificial muscle, 14 upper end and 25 one end phase of Pneumatic artificial muscle driving wire
Even, 25 other end of Pneumatic artificial muscle driving wire is connected with Pneumatic artificial muscle mechanical joint 22；First artificial pneumatic flesh
13 one end of meat is connected with the first Pneumatic artificial muscle pulling force sensor 17, the first Pneumatic artificial muscle pulling force sensor 17 with
Pneumatic artificial muscle rack 27 is connected；Described second Pneumatic artificial muscle, 14 one end and the second Pneumatic artificial muscle pulling force sensor
18 are connected, the second Pneumatic artificial muscle pulling force sensor 18 is connected with Pneumatic artificial muscle rack 27；The artificial pneumatic
The axis of the joint wheel 22 of muscle mechanical joint is connected with joint actuated by pneumatic muscles supporting rod 29；The joint actuated by pneumatic muscles
Supporting rod 29 is connected with Pneumatic artificial muscle rack 27；The first Pneumatic artificial muscle pulling force sensor 17 is detecting first
The value of thrust of Pneumatic artificial muscle；The second Pneumatic artificial muscle pulling force sensor 18 is detecting the second Pneumatic artificial muscle
Value of thrust；Torque of the feedback Pneumatic artificial muscle comparator 34 to compare corresponding to joint actuated by pneumatic muscles system
The difference of the torque voltage signal of voltage signal and hydraulic artificial muscle articular system feedback and by the difference obtained input to
The Pneumatic artificial muscle PID controller 21；Wherein, the torque voltage signal corresponding to joint actuated by pneumatic muscles system passes through
The torque voltage signal that the torque voltage signal of first Pneumatic artificial muscle subtracts the second Pneumatic artificial muscle obtains, and described first
The torque voltage signal of Pneumatic artificial muscle is to be multiplied by Pneumatic artificial muscle machinery by the value of thrust of the first Pneumatic artificial muscle
The joint wheel radius in joint obtains, and the torque voltage signal of second Pneumatic artificial muscle is by the second Pneumatic artificial muscle
Value of thrust be multiplied by Pneumatic artificial muscle mechanical joint joint wheel radius obtain；The second Pneumatic artificial muscle bias voltage
Comparator 36 controls to calculate the voltage signal of Pneumatic artificial muscle PID controller output with Pneumatic artificial muscle initial voltage
Even if the sum of voltage signal that device 20 exports and by result of calculation input to the first pressure reducing valve 15 Pneumatic artificial muscle PID control
The voltage signal of the voltage signal that device 21 exports and Pneumatic artificial muscle bias voltage comparator 36 inputs the first artificial pneumatic flesh
Meat bias voltage comparator 35, with the voltage signal of Pneumatic artificial muscle bias voltage comparator 36 subtract Pneumatic artificial muscle
The voltage signal of the output of PID controller 21, obtained difference voltage signal input the first pressure reducing valve 15；First artificial pneumatic
Muscle bias voltage comparator 35 to calculate Pneumatic artificial muscle PID controller output voltage signal and Pneumatic artificial muscle
Even if initial voltage controller output voltage signal difference and by result of calculation input to the second pressure reducing valve artificial pneumatic flesh
The voltage signal of the voltage signal that meat PID controller 21 exports and Pneumatic artificial muscle bias voltage comparator 36 inputs the second gas
Move artificial-muscle bias voltage comparator 36, add pneumatic people with the voltage signal of Pneumatic artificial muscle bias voltage comparator 36
The voltage signal of the output of work muscle PID controller 21, obtained voltage signal input the second pressure reducing valve 16.
It is described to include the first hydraulic artificial muscle 1, the second hydraulic artificial muscle 2, the first proportional throttle valve from articular system
3rd, the second proportional throttle valve 4, the first hydraulic artificial muscle pulling force sensor 5, the second hydraulic artificial muscle pulling force sensor 6,
One fixer hinders the 7, second fixer resistance 8, hydraulic power source 9, hydraulic artificial muscle bias voltage 10, hydraulic artificial muscle PID control
Device 11, the joint wheel 12 of hydraulic artificial muscle mechanical joint, from joint gain circuitry 23, hydraulic artificial muscle driving wire 24, anti-
Present hydraulic artificial muscle comparator 30, the first hydraulic artificial muscle bias voltage comparator 31, the biasing of the second hydraulic artificial muscle
Voltage comparator 32, hydraulic artificial muscle pulling force comparator 33, hydraulic artificial muscle rack 26, hydraulic artificial muscle joint support
Bar 28；Wherein, the hydraulic power source 9 is connected and then makes with the import of the first proportional throttle valve 3, the import of the second proportional throttle valve 4
First proportional throttle valve 3, the second proportional throttle valve 4 are in parallel to be connected；The outlet of first proportional throttle valve 3 and the first fixer
The import of resistance 7 is connected to form supercharging bridge, and the supercharging bridge is connected with the first hydraulic artificial muscle 1；Second ratio
The outlet of throttle valve 4 is connected with the import of the second fixer resistance 8 to form decompression bridge, decompression bridge and the second hydraulic pressure artificial muscle
Meat 2 is connected；Described first hydraulic artificial muscle, 1 one end is connected with 24 one end of hydraulic artificial muscle driving wire, the hydraulic pressure is artificial
24 other end of muscle driving wire is connected with the joint wheel 12 of hydraulic artificial muscle mechanical joint；Second hydraulic artificial muscle 2
One end is connected with 24 one end of hydraulic artificial muscle driving wire, 24 other end of hydraulic artificial muscle driving wire and hydraulic pressure artificial muscle
The joint wheel 12 of meat mechanical joint is connected；First hydraulic artificial muscle, 1 one end and 5 phase of the first hydraulic artificial muscle pulling force sensor
Even, the first hydraulic artificial muscle pulling force sensor 5 is connected with hydraulic artificial muscle rack 26；The second hydraulic pressure artificial muscle
2 lower end of meat is connected with the second hydraulic artificial muscle pulling force sensor 6, the second hydraulic artificial muscle pulling force sensor 6 and water
Artificial-muscle rack 26 is pressed to be connected；The axis of the joint wheel 12 of the hydraulic artificial muscle mechanical joint and hydraulic artificial muscle joint
Supporting rod 28 is connected；The hydraulic artificial muscle articular branches strut 28 is connected with hydraulic artificial muscle rack 26；Wherein, described
One hydraulic artificial muscle pulling force sensor 5 is detecting the value of thrust of the first hydraulic artificial muscle；The second hydraulic pressure artificial muscle
To detect the value of thrust of the second hydraulic artificial muscle, the first hydraulic artificial muscle pulling force sensor 5 measures meat pulling force sensor 6
The radius that the value of thrust of first hydraulic artificial muscle 1 is multiplied by hydraulic artificial muscle mechanical joint 12 obtains the first hydraulic artificial muscle
1 torque voltage signal；The value of thrust that second hydraulic artificial muscle pulling force sensor 6 measures the second hydraulic artificial muscle 2 is multiplied by
The radius of the joint wheel 12 of hydraulic artificial muscle mechanical joint obtains the torque voltage signal of the second hydraulic artificial muscle 2；First
The torque voltage signal that the torque voltage signal of hydraulic artificial muscle 1 subtracts the second hydraulic artificial muscle 2 obtains hydraulic pressure artificial muscle
The torque voltage signal of meat articular system feedback；The hydraulic artificial muscle pulling force comparator calculates the first hydraulic pressure people to compare
The difference of the value of thrust of work muscle and the value of thrust of the second hydraulic artificial muscle as hydraulic artificial muscle articular system to feed back
Torque voltage signal；The feedback hydraulic artificial muscle comparator calculates joint actuated by pneumatic muscles system feedback to compare
The difference of position voltage signal fed back with hydraulic artificial muscle articular system of position voltage signal and input artificial to hydraulic pressure
Muscle PID controller；The voltage signal of the hydraulic artificial muscle PID controller output inputs inclined to the first hydraulic artificial muscle
Put voltage comparator；The first hydraulic artificial muscle bias voltage comparator calculates hydraulic artificial muscle PID controls to compare
The difference for the voltage signal that the voltage signal of device output processed is exported with hydraulic artificial muscle bias voltage and the difference that will be calculated
Value is inputted to the first proportional throttle valve；The second hydraulic artificial muscle bias voltage comparator is calculating hydraulic artificial muscle
The adduction value for the voltage signal that the voltage signal of PID controller output is exported with hydraulic artificial muscle bias voltage will simultaneously be calculated
The adduction value gone out is inputted to the second proportional throttle valve.
The course of work of the system is：Operating personnel control the joint wheel 22 of Pneumatic artificial muscle mechanical joint to make first
It has initial corner, this angular signal inputs hydraulic artificial muscle PID controller as feedback signal；Assuming that the voltage of input
For u, the voltage of Δ u ＇ is exported after PID controller effect, obtained voltage signal is inputted into two proportional throttle valves, both
Voltage be respectively uw1=u+ Δ u ＇；Uw2=u- Δ u ＇；Under the action of proportional throttle valve and fixer resistance, 1, No. 2 is filled with
The pressure of hydraulic artificial muscle is respectively pw1=pw0+ Δ p, pw2=pw0- Δs p；Then after hydraulic artificial muscle joint drive,
Joint rotation angle Displacement Feedback voltage signal makees difference with input voltage can form the closed-loop control of hydraulic artificial muscle, while two fleshes
Tensile test device is installed, the pulling force that record produces below meat, torque Tw=(Fw1-Fw2) R that two muscle produce, by its turn
Voltage signal is turned to as the input voltage of Pneumatic artificial muscle to realize torque of the Pneumatic artificial muscle to hydraulic artificial muscle
Track to complete the master ＆ slave control of torque；The difference of Pneumatic artificial muscle and hydraulic artificial muscle is to control the side of muscle pressure
Formula is different, and Pneumatic artificial muscle is controlled using pressure reducing valve, when Pneumatic artificial muscle control system inputs hydraulic artificial muscle torque
After the voltage signal of conversion, through PID and pressure reducing valve control the pressure of 1, No. 2 Pneumatic artificial muscle be respectively pp1=pp0+ Δs p,
Pp2=pp0- Δs p；Torque Tp=(Fp1-Fp2) R that Pneumatic artificial muscle produces, is converted into voltage signal and feeds back to input gas
The input terminal of dynamic artificial-muscle forms the closed-loop control of Pneumatic artificial muscle.Joint actuated by pneumatic muscles corner displacement conversion at the same time
For voltage signal as the input voltage of hydraulic artificial muscle with realize hydraulic artificial muscle to the position of Pneumatic artificial muscle with
Track and then the master ＆ slave control for completing position.
It is described above, be merely preferred embodiments of the present invention but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (3)
- A kind of 1. master-slave mode artificial-muscle articular system with position/force Two-way Feedback, it is characterised in that：Including the main joint system using Pneumatic artificial muscle driving and the slave articular system using hydraulic artificial muscle driving； And the position voltage signal of the main joint system can feed back to from the input terminal of articular system so that from articular system with Position voltage signal described in track carries out the action of corresponding position corner, at the same it is described can from the torque voltage signal of articular system The input terminal of main joint system is fed back to so that the main joint system tracking torque voltage signal is acted.
- 2. the master-slave mode artificial-muscle articular system according to claim 1 with position/force Two-way Feedback, its feature exist In：The main joint system includes the first Pneumatic artificial muscle, the second Pneumatic artificial muscle, the first pressure reducing valve, the second decompression Valve, the first Pneumatic artificial muscle pulling force sensor, the second Pneumatic artificial muscle pulling force sensor, pneumatic supply, Pneumatic artificial muscle Initial voltage controller, Pneumatic artificial muscle PID controller, joint wheel, the artificial pneumatic flesh of Pneumatic artificial muscle mechanical joint Meat driving wire, feedback Pneumatic artificial muscle comparator, the first Pneumatic artificial muscle bias voltage comparator, the second artificial pneumatic flesh Meat bias voltage comparator, Pneumatic artificial muscle pulling force comparator, Pneumatic artificial muscle rack and joint actuated by pneumatic muscles Supporting rod；Wherein, the first Pneumatic artificial muscle pulling force sensor is detecting the value of thrust of the first Pneumatic artificial muscle；Institute The second Pneumatic artificial muscle pulling force sensor is stated to detect the value of thrust of the second Pneumatic artificial muscle；The feedback artificial pneumatic Muscle comparator is comparing torque voltage signal corresponding to joint actuated by pneumatic muscles system and hydraulic artificial muscle joint The difference of the torque voltage signal of system feedback simultaneously inputs the difference obtained to the Pneumatic artificial muscle PID controller； Wherein, the torque voltage signal corresponding to joint actuated by pneumatic muscles system is believed by the torque voltage of the first Pneumatic artificial muscle The torque voltage signal for number subtracting the second Pneumatic artificial muscle obtains, and the torque voltage signal of first Pneumatic artificial muscle is The joint wheel radius that Pneumatic artificial muscle mechanical joint is multiplied by by the value of thrust of the first Pneumatic artificial muscle obtains, and described second The torque voltage signal of Pneumatic artificial muscle is to be multiplied by Pneumatic artificial muscle machinery by the value of thrust of the second Pneumatic artificial muscle The joint wheel radius in joint obtains；The second Pneumatic artificial muscle bias voltage comparator is calculating Pneumatic artificial muscle The sum of voltage signal that the voltage signal of PID controller output is exported with Pneumatic artificial muscle initial voltage controller will simultaneously calculate As a result input to the first pressure reducing valve；The first Pneumatic artificial muscle bias voltage comparator is calculating Pneumatic artificial muscle The difference of the voltage signal of PID controller output and the voltage signal of Pneumatic artificial muscle initial voltage controller output will simultaneously calculate As a result input to the second pressure reducing valve.
- 3. the master-slave mode artificial-muscle articular system according to claim 1 or 2 with position/force Two-way Feedback, its feature It is：It is described to include the first hydraulic artificial muscle, the second hydraulic artificial muscle, the first proportional throttle valve, the second ratio from articular system Example throttle valve, the first hydraulic artificial muscle pulling force sensor, the second hydraulic artificial muscle pulling force sensor, the first fixer resistance, Second fixer resistance, hydraulic power source, hydraulic artificial muscle bias voltage circuit, hydraulic artificial muscle PID controller, hydraulic pressure artificial muscle The joint wheel of meat mechanical joint, from joint gain circuitry, hydraulic artificial muscle driving wire, feedback hydraulic artificial muscle comparator, First hydraulic artificial muscle bias voltage comparator, the second hydraulic artificial muscle bias voltage comparator, hydraulic artificial muscle are drawn Power comparator, hydraulic artificial muscle rack and hydraulic artificial muscle articular branches strut；Wherein, first hydraulic artificial muscle Pulling force sensor is detecting the value of thrust of the first hydraulic artificial muscle；The second hydraulic artificial muscle pulling force sensor to Detect the value of thrust of the second hydraulic artificial muscle；The hydraulic artificial muscle pulling force comparator calculates the first hydraulic pressure people to compare The difference of the value of thrust of work muscle and the value of thrust of the second hydraulic artificial muscle as hydraulic artificial muscle articular system to feed back Torque voltage signal；The feedback hydraulic artificial muscle comparator calculates joint actuated by pneumatic muscles system feedback to compare The difference of position voltage signal fed back with hydraulic artificial muscle articular system of position voltage signal and input artificial to hydraulic pressure Muscle PID controller；The voltage signal of the hydraulic artificial muscle PID controller output inputs inclined to the first hydraulic artificial muscle Put voltage comparator；The first hydraulic artificial muscle bias voltage comparator calculates hydraulic artificial muscle PID controls to compare The difference for the voltage signal that the voltage signal of device output processed is exported with hydraulic artificial muscle bias voltage and the difference that will be calculated Value is inputted to the first proportional throttle valve；The second hydraulic artificial muscle bias voltage comparator is calculating hydraulic artificial muscle The adduction value for the voltage signal that the voltage signal of PID controller output is exported with hydraulic artificial muscle bias voltage will simultaneously be calculated The adduction value gone out is inputted to the second proportional throttle valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711227814.9A CN107943124B (en) | 2017-11-29 | 2017-11-29 | Master-slave type artificial muscle joint system with position/force bidirectional feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711227814.9A CN107943124B (en) | 2017-11-29 | 2017-11-29 | Master-slave type artificial muscle joint system with position/force bidirectional feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107943124A true CN107943124A (en) | 2018-04-20 |
| CN107943124B CN107943124B (en) | 2021-06-01 |
Family
ID=61947733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711227814.9A Active CN107943124B (en) | 2017-11-29 | 2017-11-29 | Master-slave type artificial muscle joint system with position/force bidirectional feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107943124B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111693375A (en) * | 2020-06-11 | 2020-09-22 | 大连海事大学 | Hydraulic artificial muscle static characteristic test system |
| CN111775177A (en) * | 2020-06-30 | 2020-10-16 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337577A (en) * | 2008-08-08 | 2009-01-07 | 安徽工程科技学院 | Multi-finger, multi-joints water drive mechanical arm for underwater operation |
| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
| US20150231787A1 (en) * | 2012-01-17 | 2015-08-20 | Seiko Epson Corporation | Robot controller, robot system, robot control method |
| CN104959997A (en) * | 2015-06-30 | 2015-10-07 | 山东科技大学 | Balancing device allowing forearm pull of mechanical arm to be adjusted and parameter optimizing design method thereof |
-
2017
- 2017-11-29 CN CN201711227814.9A patent/CN107943124B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337577A (en) * | 2008-08-08 | 2009-01-07 | 安徽工程科技学院 | Multi-finger, multi-joints water drive mechanical arm for underwater operation |
| US20150231787A1 (en) * | 2012-01-17 | 2015-08-20 | Seiko Epson Corporation | Robot controller, robot system, robot control method |
| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
| CN104959997A (en) * | 2015-06-30 | 2015-10-07 | 山东科技大学 | Balancing device allowing forearm pull of mechanical arm to be adjusted and parameter optimizing design method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 张增猛 等: ""平面对抗型气动人工肌肉关节设计与转角特性试验分析"", 《液压气动与密封》 * |
| 陈佐钟: ""主从式人工肌肉平面关节系统设计与试验研究"", 《中国优秀硕士学位论文全文数据库 基础科学辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111693375A (en) * | 2020-06-11 | 2020-09-22 | 大连海事大学 | Hydraulic artificial muscle static characteristic test system |
| CN111775177A (en) * | 2020-06-30 | 2020-10-16 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN111775177B (en) * | 2020-06-30 | 2022-07-08 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107943124B (en) | 2021-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103196819B (en) | A kind of deep sea environment simulation device being applicable to test material corrosion behavior | |
| WO2017066906A1 (en) | Automatic oil discharging type buoyancy regulating device for underwater robot | |
| CN107943124A (en) | A kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback | |
| CN104817019B (en) | A kind of ship's crane heave compensation method based on the forecast of hanging object heave movement | |
| CN108302069B (en) | Master passively compensates hydraulic multiple degrees of freedom bit shift compensation platform and compensation hydraulic method | |
| CN109340220A (en) | Deep-sea electricity consumption hydrostatic actuator | |
| CN109030251A (en) | Hydraulic hose high temperature pulse test system | |
| CN107191417A (en) | A kind of wave compensating device and its compensating cylinder hydraulic control system | |
| Wang et al. | Dynamic characteristics of pressure compensator in underwater hydraulic system | |
| CN212774136U (en) | Self-balancing control device of submarine drilling rig | |
| CN102556875B (en) | Wave compensation system for marine exploration device | |
| CN110454448A (en) | A kind of electric-hydraulic combined formula hydraulic power unit control system of subsea production tree | |
| CN114414382B (en) | System and method for simulating deep sea withstand voltage test | |
| CN203894648U (en) | Servo-motor-driving remote pressure-regulating device for borehole pumps | |
| Zhang et al. | 7000M pressure experiment of a deep-sea hydraulic manipulator system | |
| CN207147871U (en) | A kind of volume is servo-actuated pressurizer | |
| CN203552585U (en) | Device for simulating seawater leakage in pressure shell and connecting piece of underwater vehicle | |
| CN103423217B (en) | A kind of hydraulic load analog of low noise | |
| CN108088622A (en) | A kind of ink-jet tracer equipment for the underwater leakage detection of dam | |
| CN107389438A (en) | A kind of volume is servo-actuated pressurizer | |
| CN208470082U (en) | A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder | |
| CN107576479B (en) | Marine nuclear power platform single-point mooring system test run equipment and debugging method thereof | |
| CN102840972A (en) | Hydraulic loading device for mechanical part test table | |
| CN108421661A (en) | The Self-pressurizing agri used on a kind of backpack spray tank adjusts electronic chemical spraying device | |
| CN201661549U (en) | Dynamic balance high temperature hydraulic test device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |