CN116572229A - Dielectric elastomer-rope traction force transmission system and method with end direct drive force compensation - Google Patents

Dielectric elastomer-rope traction force transmission system and method with end direct drive force compensation Download PDF

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Publication number
CN116572229A
CN116572229A CN202310696790.0A CN202310696790A CN116572229A CN 116572229 A CN116572229 A CN 116572229A CN 202310696790 A CN202310696790 A CN 202310696790A CN 116572229 A CN116572229 A CN 116572229A
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China
Prior art keywords
voltage
dielectric elastomer
resistor
operational amplifier
driver
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CN202310696790.0A
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Inventor
高兴
曹崇景
熊璟
薛嘉盛
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to CN202310696790.0A priority Critical patent/CN116572229A/en
Publication of CN116572229A publication Critical patent/CN116572229A/en
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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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The invention relates to a dielectric elastomer-rope traction force transmission system and a method for compensating end direct driving force, wherein the system comprises a PC/control system, a driver, a data acquisition card, a precise voltage source, a sensing module, a servo motor, a force sensor, a dielectric elastomer driver, an anchor point, a Bowden wire and a sleeve; the PC/control system is connected with the data acquisition card, and the lead-out wire of the data acquisition card is respectively connected with the driver, the force sensor, the precise voltage source and the sensing module; the driver is used for controlling the servo motor; one side of the force sensor is connected with the servo motor through a Bowden wire, the other side of the force sensor is connected with a dielectric elastomer driver through the Bowden wire, the precise voltage source and the sensing module are connected with wires in the Bowden wire, and the dielectric elastomer driver is fixed with the anchor point. The invention provides a dielectric elastomer-rope traction force transmission system with end direct drive force compensation, which can realize accurate control of force in a traditional Bowden wire transmission system.

Description

Dielectric elastomer-rope traction force transmission system and method with end direct drive force compensation
Technical Field
The invention relates to a circuit for detecting a dielectric elastomer capacitance, a dielectric elastomer-rope traction force transmission system and a method for compensating end direct driving force.
Background
The power exoskeleton completes exercise assistance and enhancement through force transmission of man-machine interaction, and has a wide prospect in the scenes of medical rehabilitation, rescue assistance, field marching and the like. The joint anchoring exoskeleton has smaller volume, lighter weight and difficult joint dislocation, has remarkable advantages in the scenes of portable requirements, high endurance capacity and the like, and adopts a traditional Bowden wire transmission system, namely a traction rope passes through an axially incompressible sleeve to connect a driving end and an anchor point. However, due to the friction in the sleeve, the pulling force of the pulling rope at the driving end and the anchoring end is not equal, and the difference is affected by various time-varying factors in the motion state, so that the current driving control actually adopts a position control method. The accurate force control is an essential ring in man-machine safety interaction, so that it is very necessary to study how to realize the accurate flexible control of the bowden cable drive system.
Disclosure of Invention
In order to solve the technical problems, the invention provides a dielectric elastomer-rope traction force transmission system with end direct-drive force compensation, which can realize accurate control of force in a traditional Bowden wire transmission system.
The technical scheme for solving the problems is as follows: a dielectric elastomer-rope traction force transmission system with terminal direct driving force compensation is characterized in that:
the device comprises a PC/control system, a driver, a data acquisition module, a precision voltage source, a sensing module, a servo motor, a force sensor, a dielectric elastomer Driver (DEA), an anchor point, a Bowden wire and a sleeve;
the PC/control system is connected with the data acquisition module, and the lead-out wire of the data acquisition module is respectively connected with the driver, the force sensor, the precise voltage source and the sensing module;
the driver is used for controlling the servo motor; one side of the force sensor is connected with the servo motor through a Bowden wire, the other side of the force sensor is connected with a dielectric elastomer Driver (DEA) through the Bowden wire, the precise voltage source and the sensing module are both connected with wires in the Bowden wire, and the dielectric elastomer Driver (DEA) is fixed with an anchor point.
Further, the bowden cable comprises a positive electrode wire layer, a first insulating layer, a negative electrode wire layer, a second insulating layer and a braided sleeve from inside to outside.
Further, the dielectric elastomer Driver (DEA) is a cylindrical dielectric elastomer driver.
Further, an output shaft of the servo motor is connected with a winding drum, and the Bowden wire on one side of the force sensor is wound on the winding drum.
Further, the data acquisition module is a data acquisition card (DAQ).
In addition, the invention also provides a compensation method of the dielectric elastomer-rope traction force transfer system based on the terminal direct driving force compensation, which is characterized by comprising the following steps:
1) The servo motor is controlled by a PC/control system at a specific time point to give a certain pulling force to the Bowden wire in the sleeve, wherein the pulling force is obtained by calculating the human body through the existing control algorithm and is the pulling force required by the human body in the state to reach the equilibrium state or assist walking;
2) Measuring the pulling force received by the Bowden wire in real time through a force sensor;
3) Because the dielectric elastomer Driver (DEA) is connected and fixed with the anchor point, the tension of the Bowden wire can be transmitted to the dielectric elastomer Driver (DEA) to deform the dielectric elastomer Driver (DEA), and a sensing signal is sent to the PC/control system through the sensing module;
4) The PC/control system analyzes the data, and the perceived signal is compared with the control signal of the servo motor to obtain the tensile force of the bowden cable, which is lost by friction in the sleeve;
5) The PC/control system applies a control signal to the dielectric elastomer Driver (DEA) through a precise voltage source, so that the dielectric elastomer Driver (DEA) reaches the initial tension of the motor control signal after being stretched, and quick force compensation is realized.
The end direct drive force compensated dielectric elastomer-rope traction force transfer system uses dielectric elastomer drives, which are characterized by high speed operation, high efficiency, controllability and capacity of generating muscle-like force and strain in a mass of soft robots, but because of the existence of high voltage signals, large and expensive electronic components such as high voltage power amplifiers, alternating current transformers and the like are needed for the sensing module to couple sinusoidal low voltage signals with high voltage drive signals on the high voltage side. The sensing module for detecting the capacitance of the dielectric elastomer adopts the existing large-scale professional and expensive electronic equipment, such as a peak detector, to extract the voltage change of a sinusoidal detection signal on a resistor to be detected, and the capacitance detection circuit is complex and has higher cost. To solve this problem, the present invention also proposes a sensing module comprising a circuit for detecting the capacitance of a dielectric elastomer.
The circuit for detecting the dielectric elastomer capacitance comprises an amplifying unit, a voltage detection unit, a voltage processing unit, a clamping unit and a high-voltage power supply, wherein the output end of the amplifying unit is connected with the input end of the voltage detection unit, the first output end of the voltage detection unit is connected with the input end of the clamping unit and the first input end of a dielectric elastomer Driver (DEA), the second output end of the voltage detection unit is connected with the input end of the voltage processing unit, the output end of the voltage processing unit is connected with a data acquisition module, the output end of the clamping unit is connected with the low-voltage negative electrode of the high-voltage power supply, and the second input end of the dielectric elastomer Driver (DEA) is connected with the high-voltage positive electrode of the high-voltage power supply.
Further, the amplifying unit comprises an operational amplifier U1, a resistor R10 and a resistor R11, wherein the positive electrode of the operational amplifier U1 is connected with the output end of the single chip microcomputer, the negative electrode of the operational amplifier U1 is respectively connected with one end of the resistor R10 and one end of the resistor R11, the other end of the resistor R10 is connected with the output end of the operational amplifier U1, and the other end of the resistor R11 is connected with the low-voltage negative electrode of the high-voltage power supply.
Further, the voltage detection unit comprises a differential amplifier U2 and a voltage sampling resistor R1, two ends of the voltage sampling resistor R1 are respectively connected with the positive electrode and the negative electrode of the differential amplifier U2, the output end of the differential amplifier U2 is connected with the voltage processing unit, the negative electrode of the differential amplifier U2 is connected with the clamping unit, and the negative electrode of the differential amplifier U2 is connected with the dielectric elastomer.
Further, the clamping unit includes a zener diode D1, a zener diode D2, and a capacitor C1, where one end of the capacitor C1 is connected to a negative electrode of the diode D1, the other end of the capacitor C1 is connected to a low-voltage negative electrode of the high-voltage power supply, an anode of the diode D1 is connected to an anode of the diode D2, and a negative electrode of the diode D2 is connected to a low-voltage negative electrode of the high-voltage power supply.
Further, the voltage processing unit includes an operational amplifier U3, a sliding rheostat R3 and a resistor R4, one end of the sliding rheostat R3 is connected with the output end of the voltage detecting unit, the other end of the sliding rheostat R is connected with the negative electrode of the operational amplifier U3, two ends of the resistor R4 are respectively connected with the negative electrode and the output end of the operational amplifier U3, and the positive electrode of the operational amplifier U3 is connected with the low-voltage negative electrode of the high-voltage power supply.
More preferably, the voltage processing unit further includes a resistor R5, a resistor R6, a capacitor C2 and an operational amplifier U4, one end of the resistor R5 is connected to the output end of the operational amplifier U3, the other end is connected to one end of the capacitor C2, the other end of the capacitor C2 is connected to the negative electrode of the operational amplifier U4, one end of the resistor R6 is connected to one end of the capacitor C2, and the other end is connected to the positive electrode of the operational amplifier U4.
More preferably, the voltage processing unit further includes a resistor R7 and a capacitor C3, one end of the capacitor C3 is connected with one end of the resistor R5, the other end is connected with the output end of the operational amplifier U4, and two ends of the resistor R7 are respectively connected with the negative electrode and the output end of the operational amplifier U4.
More preferably, the voltage processing unit further includes a resistor R8 and a resistor R9, the output end of the operational amplifier U4 is connected to one ends of the resistor R8 and the resistor R9, the other end of the resistor R8 is connected to the power signal output end, the other end of the resistor R9 is connected to the low-voltage negative electrode of the high-voltage power supply, and the output end of the operational amplifier U4 is used for outputting a voltage sampling signal.
The invention has the advantages that:
according to the dielectric elastomer-rope traction force transmission system with the end direct-drive force compensation, the tension of the bowden cable is measured in real time through the force sensor, the cylindrical DEA deforms under the action of the tension of the bowden cable, a sensing signal is sent out to the PC/control system through the sensing module, the PC/control system analyzes data, the data is compared with the control signal of the servo motor to obtain the tension of the bowden cable, which is worn by friction in the sleeve, the control signal is applied to the cylindrical DEA through the precise voltage source, the cylindrical dielectric elastomer driver is stretched to achieve the initial tension of the motor control signal, and rapid force compensation is carried out; the circuit design in the sensing module overcomes the defects in the prior art, realizes the detection of the dielectric elastomer capacitance from the low-voltage end, avoids professional high-voltage detection equipment, has simple and reliable circuit structure and reduces the cost.
Drawings
FIG. 1 is a schematic diagram of a terminal direct drive force compensated dielectric elastomer-rope traction force transfer system;
FIG. 2 is a schematic diagram of the functioning of a terminal direct drive force compensated dielectric elastomer-rope traction force transfer system;
FIG. 3 is a control schematic of a tip direct drive force compensated dielectric elastomer-rope traction force transfer system;
FIG. 4 is a schematic diagram of functional block connections of a circuit for detecting dielectric elastomer capacitance;
FIG. 5 is a circuit diagram for detecting dielectric elastomer capacitance;
fig. 6 is a schematic diagram of the operation of detecting dielectric elastomer capacitance.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Referring to fig. 1-3, a terminal direct drive force compensated dielectric elastomer-rope traction force transfer system includes a PC/control system, a driver, a data acquisition module, a precision voltage source, a sensing module, a servo motor, a force sensor, a dielectric elastomer Driver (DEA), an anchor point, a bowden cable, and a sleeve.
The PC/control system is connected with the data acquisition module, and the lead-out wire of the data acquisition module is respectively connected with the driver, the force sensor, the precise voltage source and the sensing module;
the driver is used for controlling the servo motor; one side of the force sensor is connected with the servo motor through a Bowden wire, the other side of the force sensor is connected with a dielectric elastomer Driver (DEA) through the Bowden wire, the precise voltage source and the sensing module are both connected with wires in the Bowden wire, and the dielectric elastomer Driver (DEA) is fixed with an anchor point.
As a preferred embodiment of the invention, the bowden cable comprises a positive electrode wire layer, a first insulating layer, a negative electrode wire layer, a second insulating layer and a braided sleeve from inside to outside, and the precision voltage source and the sensing module are connected with the positive electrode wire layer and the negative electrode wire layer in the bowden cable.
As a preferred embodiment of the present invention, the dielectric elastomer Driver (DEA) may be a dielectric elastomer driver capable of generating an axial deformation by applying an electric field, preferably a cylindrical dielectric elastomer driver, which is more uniform in deformation and more accurate in sensing and control.
As a preferred embodiment of the invention, the output shaft of the servo motor is connected with the winding drum, the bowden wire on one side of the force sensor is wound on the winding drum, the output shaft of the servo motor drives the winding drum to rotate, and the winding drum rotates to wind the bowden wire.
As a preferred embodiment of the present invention, the data acquisition module is a data acquisition card (DAQ). The data acquisition card (DAQ) automatically acquires non-electric quantity or electric quantity signals of the driver, the precise voltage source, the sensing module and the force sensor, and sends the signals to the PC/control system for analysis and processing.
As a preferred embodiment of the present invention, the sensing module includes a circuit for detecting the capacitance of the dielectric elastomer.
As shown in fig. 4, the circuit for detecting the capacitance of the dielectric elastomer comprises an amplifying unit, a voltage detecting unit, a voltage processing unit, a clamping unit and a high-voltage power supply, wherein the input end of the amplifying unit is connected with the output end of the PC/control system, the output end of the amplifying unit is connected with the input end of the voltage detecting unit, the first output end of the voltage detecting unit is connected with the input end of the clamping unit and the first input end of the dielectric elastomer, the second output end of the voltage detecting unit is connected with the input end of the voltage processing unit, the output end of the voltage processing unit is connected with the input end of the PC/control system through a data acquisition module, the output end of the clamping unit is connected with the low-voltage negative electrode of the high-voltage power supply, and the second input end of the dielectric elastomer is connected with the high-voltage positive electrode of the high-voltage power supply.
Fig. 5 shows a schematic diagram of circuit connection for detecting dielectric elastomer capacitance, and for convenience of explanation, only the portions related to this embodiment are shown, as follows:
the amplifying unit comprises an operational amplifier U1, a resistor R10 and a resistor R11, wherein the positive electrode of the operational amplifier U1 is connected with the output end of the PC/control system, the negative electrode of the operational amplifier U1 is respectively connected with one end of the resistor R10 and one end of the resistor R11, the other end of the resistor R10 is connected with the output end of the operational amplifier U1, and the other end of the resistor R11 is connected with the low-voltage negative electrode of the high-voltage power supply.
The voltage detection unit comprises a differential amplifier U2 and a voltage sampling resistor R1, the voltage sampling resistor R1 is used for carrying out partial pressure sampling on the dielectric elastomer, two ends of the voltage sampling resistor R1 are respectively connected with the positive electrode and the negative electrode of the differential amplifier U2, the output end of the differential amplifier U2 is connected with the voltage processing unit, the negative electrode of the differential amplifier U2 is connected with the clamping unit, and the negative electrode of the differential amplifier U2 is connected with the dielectric elastomer.
The clamping unit comprises a voltage stabilizing diode D1, a voltage stabilizing diode D2 and a capacitor C1, one end of the capacitor C1 is connected with the negative electrode of the diode D1, the other end of the capacitor C1 is connected with the low-voltage negative electrode of the high-voltage power supply, the positive electrode of the diode D1 is connected with the positive electrode of the diode D2, and the negative electrode of the diode D2 is connected with the low-voltage negative electrode of the high-voltage power supply.
The voltage processing unit comprises an operational amplifier U3, a slide rheostat R3, a resistor R4, a resistor R5, a resistor R6, a capacitor C2, the operational amplifier U4, a resistor R7, a capacitor C3, a resistor R8 and a resistor R9, wherein one end of the slide rheostat R3 is connected with the output end of the voltage detection unit, the other end of the slide rheostat R3 is connected with the negative electrode of the operational amplifier U3, the two ends of the resistor R4 are respectively connected with the negative electrode and the output end of the operational amplifier U3, and the positive electrode of the operational amplifier U3 is connected with the low-voltage negative electrode of the high-voltage power supply. One end of the resistor R5 is connected with the output end of the operational amplifier U3, the other end of the resistor R5 is connected with one end of the capacitor C2, the other end of the capacitor C2 is connected with the negative electrode of the operational amplifier U4, one end of the resistor R6 is connected with one end of the capacitor C2, and the other end of the resistor R6 is connected with the positive electrode of the operational amplifier U4. One end of the capacitor C3 is connected with one end of the resistor R5, the other end of the capacitor C is connected with the output end of the operational amplifier U4, and two ends of the resistor R7 are respectively connected with the negative electrode and the output end of the operational amplifier U4. The output end of the operational amplifier U4 is respectively connected with one ends of a resistor R8 and a resistor R9, the other end of the resistor R8 is connected with one power signal output end (namely a V4 end) of the PC/control system, the other end of the resistor R9 is connected with a low-voltage negative electrode of a high-voltage power supply, and the output end of the operational amplifier U4 is connected with the input end of the PC/control system through a data acquisition module. The voltage at the V4 terminal is 2.5V. The output end of the PC/control system is used for sending square wave signals and receiving voltage signals output by the capacitance detection circuit.
The circuit for detecting the dielectric elastomer capacitance works in the following principle:
the high-voltage power supply VH supplies a driving power to the dielectric elastomer, and the voltage of the high-voltage power supply VH is 3000V to 5000V or even higher for different dielectric elastomers. The low voltage signal detection power supply VL provides detection signals for the capacitance detection circuit, the voltage output of the low voltage signal detection power supply is 1V,1KHZ sine signals, the working principle is as shown in figure 6, when high voltage is applied to the electrodes at the two ends of the dielectric elastomer, the dielectric elastomer is stressed and compressed to deform, meanwhile, the capacitance changes, and the capacitance value is measured through the low voltage detection signals.
The circuit is provided with an operational amplifier U1, a differential amplifier U2 and an operational amplifier U3, and the operational amplifier U4, a zener diode D1, a zener diode D2 and a sliding rheostat R3, and other devices in the circuit are resistance-capacitance elements.
The detection signal generated by the singlechip is amplified by an operational amplifier U1, then connected to one end of a resistor R1 to be measured, the voltage signal of the resistor R1 to be measured is measured by a differential amplifier U2, the voltage is processed by a voltage processing unit and then is connected to the input end of the singlechip, and the voltage signal is calculated and converted by the singlechip to obtain the capacitance of the dielectric elastomer to be measured.
The specific calculation process is that the kirchhoff voltage law can be used for:
knowing the amplitude and phase of the low-voltage detection signal VL output by the singlechip, performing phase detection processing on the voltage signal received by the input end of the singlechip to obtain the amplitude and phase of the voltage signal VL, and obtaining the voltage signal VL according to a cosine formula:
wherein θ is V 1 ，V 3 An included angle between the two.
Wherein ζ is V 2 ，V 3 An included angle between the two.
The alternating voltage flowing through the resistor is in phase with the current, and the alternating current flowing through the capacitor leads the voltage by 90 ℃, so that:
wherein χ is I 1 ，I 2 An included angle between the two.
From kirchhoff's current law:
I 2 ＝V 2 2πfC 1
from the cosine formula:
according to the impedance theorem:
where Z is the impedance of the dielectric elastomer, rs is the equivalent resistance of the dielectric elastomer, and Ca is the equivalent capacitance of the dielectric elastomer.
In addition, the invention also provides a compensation method of the dielectric elastomer-rope traction force transmission system based on the terminal direct driving force compensation, which is shown in fig. 1-3, and comprises the following steps:
1) The servo motor is controlled by a PC/control system at a specific time point to give a certain pulling force to the Bowden wire in the sleeve, wherein the pulling force is obtained by calculating the human body through the existing control algorithm and is the pulling force required by the human body in the state to reach the equilibrium state or assist walking;
2) The tension received by the Bowden wire is measured in real time through the force sensor, and the data acquisition module acquires a force signal sent by the force sensor and transmits the force signal to the PC/control system;
3) Because the dielectric elastomer Driver (DEA) is connected and fixed with the anchor point, the tension of the Bowden wire can be transmitted to the dielectric elastomer Driver (DEA) to deform the dielectric elastomer Driver (DEA), and the data acquisition module acquires a sensing signal sent by the sensing module and transmits the sensing signal to the PC/control system;
4) The PC/control system analyzes the data, and the perceived signal is compared with the control signal of the servo motor to obtain the tensile force of the bowden cable, which is lost by friction in the sleeve;
5) The PC/control system applies control signals to the dielectric elastomer Driver (DEA) through the data acquisition module and the precise voltage source, so that the dielectric elastomer Driver (DEA) reaches the initial tension of the motor control signals after being stretched, and quick force compensation is realized.
The power exoskeleton completes motion assistance and reinforcement through force transmission of man-machine interaction, wherein the exoskeleton adopts a traditional bowden cable transmission system, namely a traction rope passes through an axially incompressible sleeve to connect a driving end and an anchor point, and the dielectric elastomer-rope traction force transmission system with the end direct driving force compensation can be applied to the power exoskeleton, and the working principle is as follows:
the human body walks after wearing the lower limb exoskeleton, the servo motor is controlled by the PC/control system at a specific time point, so that a certain tensile force is given to the Bowden wire in the exoskeleton sleeve, and the tensile force is obtained by calculating the human body through the existing control algorithm and is the tensile force required by the human body to reach an equilibrium state or assist walking in the state. The tension of the bowden cable is measured in real time through the force sensor, and as the cylindrical dielectric elastomer Driver (DEA) is fixedly connected with the anchor point, the tension of the bowden cable can be transmitted to the cylindrical dielectric elastomer Driver (DEA) to enable the cylindrical dielectric elastomer Driver (DEA) to deform, a sensing signal is sent out by the sensing module to the PC/control system, the PC/control system analyzes data, the tension of the bowden cable, which is worn by friction in the sleeve, can be obtained after the comparison with the control signal of the servo motor, the control signal is applied to the cylindrical dielectric elastomer Driver (DEA) through the precise voltage source, the initial tension of the motor control signal is achieved after the cylindrical dielectric elastomer driver is stretched, rapid force compensation is carried out, and finally the precise flexible control of the bowden cable driving system is realized.
The foregoing description is only exemplary embodiments of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention, or direct or indirect application in other related system fields are included in the scope of the present invention.

Claims (10)

1. A circuit for detecting dielectric elastomer capacitance, characterized by:
the high-voltage power supply comprises an amplifying unit, a voltage detection unit, a voltage processing unit, a clamping unit and a high-voltage power supply, wherein the output end of the amplifying unit is connected with the input end of the voltage detection unit, the first output end of the voltage detection unit is connected with the input end of the clamping unit and the first input end of the dielectric elastomer, the second output end of the voltage detection unit is connected with the input end of the voltage processing unit, the output end of the voltage processing unit is used for outputting signals, the output end of the clamping unit is connected with the low-voltage negative electrode of the high-voltage power supply, and the second input end of the dielectric elastomer is connected with the high-voltage positive electrode of the high-voltage power supply.
2. The circuit for detecting dielectric elastomer capacitance of claim 1, wherein:
the amplifying unit comprises an operational amplifier U1, a resistor R10 and a resistor R11, wherein the positive electrode of the operational amplifier U1 is connected with the output end of the singlechip, the negative electrode of the operational amplifier U1 is respectively connected with one end of the resistor R10 and one end of the resistor R11, the other end of the resistor R10 is connected with the output end of the operational amplifier U1, and the other end of the resistor R11 is connected with the low-voltage negative electrode of the high-voltage power supply.
3. The circuit for detecting dielectric elastomer capacitance of claim 1, wherein:
the voltage detection unit comprises a differential amplifier U2 and a voltage sampling resistor R1, wherein two ends of the voltage sampling resistor R1 are respectively connected with the anode and the cathode of the differential amplifier U2, the output end of the differential amplifier U2 is connected with the voltage processing unit, the cathode of the differential amplifier U2 is connected with the clamping unit, and the cathode of the differential amplifier U2 is connected with the dielectric elastomer.
4. The circuit for detecting dielectric elastomer capacitance of claim 1, wherein:
the clamping unit comprises a voltage stabilizing diode D1, a voltage stabilizing diode D2 and a capacitor C1, one end of the capacitor C1 is connected with the negative electrode of the diode D1, the other end of the capacitor C1 is connected with the low-voltage negative electrode of the high-voltage power supply, the positive electrode of the diode D1 is connected with the positive electrode of the diode D2, and the negative electrode of the diode D2 is connected with the low-voltage negative electrode of the high-voltage power supply.
5. The circuit for detecting dielectric elastomer capacitance of claim 1, wherein:
the voltage processing unit comprises an operational amplifier U3, a sliding rheostat R3, a resistor R4, a resistor R5, a resistor R6, a capacitor C2, the operational amplifier U4, a resistor R7, a capacitor C3, a resistor R8 and a resistor R9;
one end of the sliding rheostat R3 is connected with the output end of the voltage detection unit, the other end of the sliding rheostat R3 is connected with the negative electrode of the operational amplifier U3, two ends of the resistor R4 are respectively connected with the negative electrode of the operational amplifier U3 and the output end, and the positive electrode of the operational amplifier U3 is connected with the low-voltage negative electrode of the high-voltage power supply; one end of the resistor R5 is connected with the output end of the operational amplifier U3, the other end of the resistor R5 is connected with one end of the capacitor C2, the other end of the capacitor C2 is connected with the negative electrode of the operational amplifier U4, one end of the resistor R6 is connected with one end of the capacitor C2, and the other end of the resistor R6 is connected with the positive electrode of the operational amplifier U4;
one end of the capacitor C3 is connected with one end of the resistor R5, the other end of the capacitor C is connected with the output end of the operational amplifier U4, and two ends of the resistor R7 are respectively connected with the negative electrode of the operational amplifier U4 and the output end; the output end of the operational amplifier U4 is respectively connected with one ends of a resistor R8 and a resistor R9, the other end of the resistor R8 is connected with the power signal output end, the other end of the resistor R9 is connected with the low-voltage negative electrode of the high-voltage power supply, and the output end of the operational amplifier U4 outputs a voltage signal.
6. A terminal direct drive force compensated dielectric elastomer-rope traction force transfer system characterized by:
the device comprises a PC/control system, a driver, a data acquisition module, a precision voltage source, a sensing module, a servo motor, a force sensor, a dielectric elastomer driver, an anchor point, a Bowden wire and a sleeve;
the PC/control system is connected with the data acquisition module, and the lead-out wire of the data acquisition module is respectively connected with the driver, the force sensor, the precise voltage source and the sensing module;
the sensing module comprising a circuit for detecting dielectric elastomer capacitance as claimed in any one of claims 1 to 5;
the driver is used for controlling the servo motor; one side of the force sensor is connected with the servo motor through a Bowden wire, the other side of the force sensor is connected with a dielectric elastomer driver through the Bowden wire, the precise voltage source and the sensing module are connected with wires in the Bowden wire, and the dielectric elastomer driver is fixed with the anchor point.
7. A terminal direct drive force compensated dielectric elastomer-rope traction force transfer system as in claim 6, wherein:
the Bowden wire comprises an anode wire layer, a first insulating layer, a cathode wire layer, a second insulating layer and a woven sleeve from inside to outside in sequence.
8. A terminal direct drive force compensated dielectric elastomer-rope traction force transfer system as in claim 7, wherein:
the output shaft of the servo motor is connected with the winding drum, and the Bowden wire on one side of the force sensor is wound on the winding drum.
9. A terminal direct drive force compensated dielectric elastomer-rope traction force transfer system as in claim 6, wherein:
the dielectric elastomer driver is a cylindrical dielectric elastomer driver; the data acquisition module is a data acquisition card DAQ.
10. A compensation method of a dielectric elastomer-rope traction force transmission system with end direct driving force compensation is characterized by comprising the following steps of:
1) The servo motor is controlled by a PC/control system, so that the servo motor gives a certain tensile force to the Bowden wire in the exoskeleton sleeve;
2) Measuring the pulling force received by the Bowden wire in real time through a force sensor;
3) The tension of the Bowden wire is transmitted to the dielectric elastomer driver, so that the dielectric elastomer driver is deformed, and a sensing signal is sent to the PC/control system through the sensing module;
4) The PC/control system analyzes the data, and the perceived signal is compared with the control signal of the servo motor to obtain the tensile force of the bowden cable, which is lost by friction in the sleeve;
5) The PC/control system applies a control signal to the dielectric elastomer driver through a precise voltage source, so that the dielectric elastomer driver reaches the initial tension of the motor control signal after elongation, and quick force compensation is realized.
CN202310696790.0A 2023-06-13 2023-06-13 Dielectric elastomer-rope traction force transmission system and method with end direct drive force compensation Pending CN116572229A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117268605A (en) * 2023-11-23 2023-12-22 常熟理工学院 Bowden cable transmission

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117268605A (en) * 2023-11-23 2023-12-22 常熟理工学院 Bowden cable transmission
CN117268605B (en) * 2023-11-23 2024-01-30 常熟理工学院 Bowden cable transmission

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