CN108549738A - A kind of elongation type pneumatic muscle and its dynamic modeling method - Google Patents
A kind of elongation type pneumatic muscle and its dynamic modeling method Download PDFInfo
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Abstract
The invention discloses a kind of elongation type pneumatic muscle, including telescoping tube, mesh grid and two terminal fittings, the mesh grid is wrapped on the outer ring of the telescoping tube, the length of the mesh grid is more than the length of the telescoping tube, and two terminal fittings are respectively fixedly connected at the both ends of the telescoping tube so that the telescoping tube to be fixedly connected with the mesh grid.Dynamic modeling method the invention also discloses the elongation type pneumatic muscle includes：The elongation type pneumatic muscle is equivalent to the structure that damping unit, Flexible element and thrust unit are in parallel, obtains the kinetic model formula of the elongation type pneumatic muscle；And respectively obtain the damping parameter of the damping unit, the elastic parameter of the Flexible element and the thrust unit thrust parameter.Elongation type pneumatic muscle proposed by the present invention can be flexibly applied to a variety of occasions, and dynamic modeling method accurately reflects the dynamic characteristic of elongation type pneumatic muscle, to lay the first stone to the research of elongation type pneumatic muscle.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of elongation type pneumatic muscle and its Dynamic Modeling sides
Method.
Background technology
Pneumatic muscles are a kind of simple novel pneumatic drivers, have power ratio is big, compliance is good, safety is high etc.
Feature.Pneumatic muscles can be divided into two classes：Shrinkage type pneumatic muscles and elongation type pneumatic muscle.Wherein shrinkage type pneumatic muscles
It is widely used in driving mechanical Dextrous Hand, bionical quadruped robot, ectoskeleton power assisting device etc., and elongation type pneumatic muscle
Research is at present still in the elementary step.Elongation type pneumatic muscle is in addition to excellent with shrinkage type Pneumatic muscle flexible, light structure etc.
Except point, also there is good extension ability, this allows it to be flexibly used in a variety of occasions, for example imitates trunk robot, imitates
Octopus pawl robot etc..It is found in use above research, pneumatic muscles are a kind of integrated complicated systems of integrated machine-electric-gas
System, therefore design elongation type pneumatic muscle and Dynamic Modeling is carried out to it and be very important.
Currently, pneumatic muscles dynamics research method can be mainly divided into three kinds：The first is physical geometry modeling, i.e.,
Kinetic model is established according to the physics of pneumatic muscles itself and mechanical property, this modeling method requires sufficient basis
Knowledge can establish equilibrium equation according to the geometry of mesh grid and rubber tube；Second is phenomenological modeling, i.e. basis
Known model structure is equivalent to pneumatic muscles progress, and this modeling method need not be to the physical geometry of pneumatic muscles
Thorough analysis is done, the parameter of model can be picked out often through specific experiment；The third is fitting modeling, i.e., first leads to
The characteristic for crossing experiment test pneumatic muscles, is fitted the model of pneumatic muscles further according to the data that measure, and due in experiment, no
It determines because being known as very much, so this modeling method needs a large amount of experimental data.The above research method is in the dynamic of pneumatic muscles
Certain progress is all achieved in mechanical modeling, then, the above research is concentrated mainly on shrinkage type pneumatic muscles, for elongation type
The Dynamic Modeling of pneumatic muscles and its method of influence parameters analysis wait to study.
The disclosure of background above technology contents is only used for design and the technical solution that auxiliary understands the present invention, not necessarily
So belong to the prior art of present patent application, no tangible proof show the above present patent application the applying date
In the case of having disclosed, above-mentioned background technology should not be taken to the novelty and creativeness of evaluation the application.
Invention content
In order to solve the above technical problems, a kind of elongation type pneumatic muscle of present invention proposition and its dynamic modeling method, stretch
Elongated pneumatic muscles can be flexibly applied to a variety of occasions, and dynamic modeling method accurately reflects elongation type pneumatic muscle
Dynamic characteristic, the research blank to elongation type pneumatic muscle is compensated for, to lay base to the research of elongation type pneumatic muscle
Plinth.
In order to achieve the above object, the present invention uses following technical scheme：
The invention discloses a kind of elongation type pneumatic muscle, including telescoping tube, mesh grid and two terminal fittings, wherein
The mesh grid is wrapped on the outer ring of the telescoping tube, and the length of the mesh grid is more than the length of the telescoping tube, two
The terminal fitting, which is respectively fixedly connected with, to be connected at the both ends of the telescoping tube with fixing the telescoping tube and the mesh grid
It connects.
Preferably, the intersecting angle of the mesh grid is more than 54.7 °.
Preferably, the telescoping tube uses rubber tube.
The invention also discloses a kind of dynamic modeling methods of above-mentioned elongation type pneumatic muscle, including：It is stretched described
Elongated pneumatic muscles are equivalent to the structure that damping unit, Flexible element and thrust unit are in parallel, and obtain the elongation type pneumatic
The kinetic model formula of muscle；And respectively obtain the elastic parameter of the damping parameter of the damping unit, the Flexible element
With the thrust parameter of the thrust unit.
Preferably, the kinetic model formula of the elongation type pneumatic muscle is：
In formula, m is load quality, and g is acceleration of gravity, y,Respectively elongation type pneumatic muscle end
Extend displacement, speed and acceleration, kp、bp、fpRespectively elastic parameter, damping parameter and thrust parameter.
Preferably, wherein kp、bp、fpIt is in a linear relationship with inner gas pressure respectively, and meet following formula：
In formula, p is inner gas pressure, f0、k0、b0And f1、k1、b1It is undetermined coefficient.
Preferably, the calculation formula of the thrust parameter of the thrust unit is：
fp=Sp (3)
Wherein, radial effective sectional area S=π (d/2)2, d is the internal diameter of the telescoping tube.
Preferably, wherein the method for obtaining the elastic parameter of the Flexible element is：To the elongation type pneumatic muscle into
Row tension test tests pulling force of the elongation type pneumatic muscle under different stretch length, and bullet is calculated according to the following formula
Property parameter：
kp=fp/(y-y0) (6)
In formula, y0For the initial length of the elongation type pneumatic muscle, y is the length after its elongation；
Then inner gas pressure p, the elastic parameter k that convolution (6) is calculated are calculated according to formula (3)p, then pass through
Least square method is to kpIt is fitted to obtain fit line with p, coefficient k is obtained according to the fit line0And k1。
Preferably, the damping parameter b of the damping unitpValue range 0.35~0.55.
Compared with prior art, the beneficial effects of the present invention are：The invention discloses a kind of elongation type pneumatic muscle,
A variety of occasions can be flexibly applied to, ratio imitates trunk robot, imitative octopus pawl robot etc.；And it effectively establishes this and stretches
The kinetic model of elongated pneumatic muscles, and obtained the parameters in kinetic model；Show this according to test result
The kinetic model established in invention can accurately reflect the dynamic characteristic of elongation type pneumatic muscle, to compensate for stretching
The research blank of elongated pneumatic muscles, to lay the first stone to the research of elongation type pneumatic muscle.
Description of the drawings
Fig. 1 is the structural schematic diagram of the elongation type pneumatic muscle of the preferred embodiment of the present invention；
Fig. 2 is the kinetic model schematic diagram of the elongation type pneumatic muscle of Fig. 1；
Fig. 3 is the fitting schematic diagram of the elongation type pneumatic elasticity of muscle test result of the specific embodiment of the invention；
Fig. 4 a are the analogue systems of E-PM dynamic characteristic tests；
Fig. 4 b are the simulation models of the E-PM subsystems in Fig. 4 a.
Specific implementation mode
Below against attached drawing and in conjunction with preferred embodiment, the invention will be further described.
As shown in Figure 1, the preferred embodiment of the present invention discloses a kind of elongation type pneumatic muscle, including telescoping tube 10, braiding
Net 20 and two terminal fittings 30, wherein mesh grid 20 are wrapped at the outer ring of telescoping tube 10, and the length of mesh grid 20, which is more than, stretches
The length of the draw 10, two terminal fittings 30 are respectively fixedly connected at the both ends of telescoping tube 10 with by telescoping tube 10 and mesh grid
20 are fixedly connected；Wherein in the present embodiment, telescoping tube 10 uses rubber tube, the intersecting angle of mesh grid to be more than 54.7 °, make
The elongation type pneumatic muscle axial elongation is enabled to when obtaining the inflation into telescoping tube 10.
The dynamic modeling method of the elongation type pneumatic muscle of the preferred embodiment of the present invention includes：
As shown in Fig. 2, above-mentioned elongation type pneumatic muscle is equivalent to damping unit 40,50 and of Flexible element by the present embodiment
The structure that thrust unit 60 is in parallel；
Wherein, the damping parameter in damping unit 40 directly affects the speed of pneumatic muscles elongation, 50 in Flexible element
Elastic parameter directly affect the length of pneumatic muscles elongation, thrust unit 60 is simultaneously not directly placed on a certain variable, it is
It is determined by the characteristic of pneumatic muscles itself, including a kind of comprehensive structure formed such as frictional force between cyst wall.These three units
In a linear relationship with air pressure inside, the kinetic model expression formula of the elongation type pneumatic muscle is：
In formula, m is load quality, and g is acceleration of gravity, y,Respectively the elongation displacement of pneumatic muscles end,
Speed and acceleration, kp、bp、fpRespectively elastic parameter, damping parameter and thrust parameter.
Wherein kp、bp、fpMeet following formula respectively：
In formula, p is inner gas pressure, f0、k0、b0And f1、k1、b1It is undetermined coefficient.
Since elongation type pneumatic muscle is during inflated elongation, radial dimension is basically unchanged, it can be considered that compiling
The intersecting angle of knitmesh is basically unchanged, and the frictional force between pipe network does not also change, that is, has thrust to be multiplied by sagittal plane equal to air pressure
Product：
fp=Sp (3)
Wherein, radial effective sectional area S=π (d/2)2, d is the internal diameter of telescoping tube.
According to pneumatic muscles kinetic model expression formula (1) it is found that speed when elongation type pneumatic muscle is in static state
It is 0 with acceleration, therefore its model can be reduced to：
kpY+mg=fp (4)
It can be further simplified as in an unloaded situation：
kpY=fp (5)
In order to pick out the elastic parameter of the elongation type pneumatic muscle, the present embodiment is in normal temperature environment, atmospheric pressure
Under conditions of 101.3KPa, elasticity test platform is built, by testing elongation type pneumatic muscle under different stretch length
Pulling force, then elastic parameter k can be calculated by formula (6)p：
kp=fp/(y-y0) (6)
In formula, y0For the initial length of pneumatic muscles, y is the length after its elongation.
In the present embodiment, it is used for realizing the drawing of pneumatic muscles using the displacement governor based on OT2-A280ARH lathes
It stretches, OT2-A280ARH lathes measure the displacement of tool table by grating sensor, can be accurate to after decimal point three, protect
The precision of displacement measurement is demonstrate,proved；Pulling force suffered by pneumatic muscles is measured using JLBM-100KG pulling force sensors, precision reaches
0.1%, it can ensure the precision of tensile test；It is used for reading value of thrust, digital display essence using CHB-V0 pulling force sensor readers
Really to three after decimal point, the accuracy of reading ensure that.
Specifically testing procedure includes：(1) tool table is moved backward into certain distance, reads the value of thrust that reader is shown,
Record the shift value of lathe digital display；(2) tool table is continued to move backward certain distance, reads the value of thrust that reader is shown,
Record the shift value of lathe digital display；(3) each distance value repeats experiment 3 times；(4) corresponding three value of thrust of each shift value,
It is averaged as pulling force end value.
Inner gas pressure p is calculated according to formula (3), elastic parameter k is calculated according to formula (6)p, and pass through least square
Method is to kpIt is fitted with p, obtains elastic parameter kpIt is shown below with the relationship of inner gas pressure p：
kp=k1p+k0 (7)
For example, in one embodiment, carrying out above-mentioned experiment to specific elongation type pneumatic muscle, obtaining test data
Such as the following table 1.
1 elasticity test data of table
Inner gas pressure p is calculated according to formula (3), elastic parameter k is calculated according to formula (6)p, then pass through least square method
To kpIt is fitted with p, fitting result is as shown in Figure 3.Fit line according to fig. 3 obtains elastic parameter kpWith inner gas pressure p
Relationship be：kp=0.0074p+0.2781 namely k1=0.0074, k0=0.2781.
According toError analysis is carried out to match value and actual value, δ=0.0191 is calculated,
Fitting precision is higher, this shows that the original identification data discrete degree of elastic parameter is smaller, therefore is suitable using fitting a straight line
's.
In the present embodiment, emulation test system is established based on Matlab/Simscape, as shown in figures 4 a and 4b；
Wherein, E-PM dynamic characteristic tests analogue system is made of three parts in Fig. 4 a, i.e. importation, E-PM subsystems and defeated
Go out part.Wherein in importation, P indicates that system input signal is the step signal of air pressure, PC expression parameter configuration modules,
For configuring three parameters of pneumatic muscles；E-MP subsystems represent elongation type pneumatic muscle, simulation model such as Fig. 4 b institutes
Show, S indicates that spring unit, D indicate that damping unit, F indicate that thrust unit, terminal 1,2,3,4 indicate k respectivelyp、bp、fpAnd
The input of pneumatic muscles relative position, 5 indicate the output of pneumatic muscles length, are encapsulated as E-PM modules in fig.4；Output
In part, MS indicates motion sensor, for detecting the speed and length variable quantity of pneumatic muscles elongation；Fixed End are represented
The stationary end of pneumatic muscles, Free End represent pneumatic muscles elongation end, and Free End, which are replaced with Mass modules, indicates negative
It carries；S-PS modules are used for the Simulink input signals of no unit being converted to physical signal, and PS-S modules are used for believing physics
The Simulink output signals of no unit number are converted to, f (x)=0 represents solver configuration function；L and V respectively represents elongation
Length and elongation speed observer.
Influence of the damping parameter to dynamic characteristic, fixed air pressure, fixed load are analyzed by above-mentioned emulation test system
In the case of, it chooses different damping value and carries out l-G simulation test respectively.By simulation result it is found that the difference of damping parameter does not interfere with
The last length of pneumatic muscles.But damping is bigger, the time that pneumatic muscles are finally reached stable state is longer.By emulation experiment,
The term of reference of damping parameter is 0.35-0.55.
Therefore, each parameter that the kinetic model of elongation type pneumatic muscle to sum up can be obtained is respectively：
The preferred embodiment of the present invention devises a kind of elongation type pneumatic muscle, can be flexibly applied to a variety of occasions, ratio
Imitative trunk robot, imitative octopus pawl robot etc.；And the kinetic model of the elongation type pneumatic muscle is effectively established, and
The parameters in kinetic model are obtained；Show that the kinetic model established in the present invention can according to test result
The dynamic characteristic for accurately reflecting elongation type pneumatic muscle, to compensate for the research blank to elongation type pneumatic muscle, for stretching
The research of elongated pneumatic muscles lays the first stone.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, cannot recognize
The specific implementation of the fixed present invention is confined to these explanations.For those skilled in the art to which the present invention belongs, not
Under the premise of being detached from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical,
It all shall be regarded as belonging to protection scope of the present invention.
Claims (9)
1. a kind of elongation type pneumatic muscle, which is characterized in that including telescoping tube, mesh grid and two terminal fittings, wherein described
Mesh grid is wrapped on the outer ring of the telescoping tube, and the length of the mesh grid is more than the length of the telescoping tube, described in two
Terminal fitting is respectively fixedly connected at the both ends of the telescoping tube so that the telescoping tube to be fixedly connected with the mesh grid.
2. elongation type pneumatic muscle according to claim 1, which is characterized in that the intersecting angle of the mesh grid is more than
54.7°。
3. elongation type pneumatic muscle according to claim 1, which is characterized in that the telescoping tube uses rubber tube.
4. a kind of dynamic modeling method of claims 1 to 3 any one of them elongation type pneumatic muscle, which is characterized in that
Including：The elongation type pneumatic muscle is equivalent to the structure that damping unit, Flexible element and thrust unit are in parallel, obtains institute
State the kinetic model formula of elongation type pneumatic muscle；And it is single to respectively obtain the damping parameter of the damping unit, the elasticity
The thrust parameter of the elastic parameter and the thrust unit of member.
5. the dynamic modeling method of elongation type pneumatic muscle according to claim 4, which is characterized in that the elongation type
The kinetic model formula of pneumatic muscles is：
In formula, m is load quality, and g is acceleration of gravity, y,The respectively elongation of elongation type pneumatic muscle end
Displacement, speed and acceleration, kp、bp、fpRespectively elastic parameter, damping parameter and thrust parameter.
6. the dynamic modeling method of elongation type pneumatic muscle according to claim 5, which is characterized in that wherein kp、bp、
fpIt is in a linear relationship with inner gas pressure respectively, and meet following formula：
In formula, p is inner gas pressure, f0、k0、b0And f1、k1、b1It is undetermined coefficient.
7. the dynamic modeling method of elongation type pneumatic muscle according to claim 6, which is characterized in that the thrust list
The calculation formula of thrust parameter of member is：
fp=Sp (3)
Wherein, radial effective sectional area S=π (d/2)2, d is the internal diameter of the telescoping tube.
8. the dynamic modeling method of elongation type pneumatic muscle according to claim 7, which is characterized in that wherein obtain institute
The method for stating the elastic parameter of Flexible element is：Tension test is carried out to the elongation type pneumatic muscle, tests the elongation type
Pulling force of the pneumatic muscles under different stretch length, and elastic parameter is calculated according to the following formula：
kp=fp/(y-y0) (6)
In formula, y0For the initial length of the elongation type pneumatic muscle, y is the length after its elongation；
Then inner gas pressure p, the elastic parameter k that convolution (6) is calculated are calculated according to formula (3)p, then pass through minimum two
Multiplication is to kpIt is fitted to obtain fit line with p, coefficient k is obtained according to the fit line0And k1。
9. the dynamic modeling method of elongation type pneumatic muscle according to claim 6, which is characterized in that the damping is single
The damping parameter b of memberpValue range 0.35~0.55.
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| CN113305879A (en) * | 2021-04-09 | 2021-08-27 | 南开大学 | Robot control system and method based on joint angle and muscle length measurement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109271746A (en) * | 2018-11-07 | 2019-01-25 | 武汉理工大学 | Pneumatic muscles high-order nonlinear dynamic model and its construction method and system |
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| CN113021331A (en) * | 2019-12-24 | 2021-06-25 | 沈阳智能机器人创新中心有限公司 | Seven-degree-of-freedom cooperative robot dynamics modeling and identification method |
| CN113021331B (en) * | 2019-12-24 | 2022-04-05 | 沈阳智能机器人创新中心有限公司 | Seven-degree-of-freedom cooperative robot dynamics modeling and identification method |
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| CN113305879A (en) * | 2021-04-09 | 2021-08-27 | 南开大学 | Robot control system and method based on joint angle and muscle length measurement |
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| CN108549738B (en) | 2022-06-03 |
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