基于气动复合弹性体柔性关节机械手动力学性能研究

项目名称： 基于气动复合弹性体柔性关节机械手动力学性能研究

项目编号： No.51275004

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 耿德旭

作者单位： 北华大学

项目金额： 80万元

中文摘要： 首次提出关节综合柔性的概念，研究人工肌肉气动复合弹性体大变形理论，提出以肌肉为主体实现关节结构柔性的方法。研究肌肉轴向主动膨胀和被动弯曲动力学模型，提出气动肌肉径向约束失稳的机理，建立极限工作压力和失稳判断标准。研究单肌肉主动扭转机理和模型，提出双向螺旋弹簧抵消扭转机制，建立双体人工肌肉的力学模型。提出多链节单向弯曲和并联四肌肉双向弯曲柔性关节，建立多肌肉复合弹性体串、并联结构模型和动力学方程。研究仿人柔性机械手结构功能和抓取模式，提出变参数变换矩阵，建立运动位姿方程，研究柔性手指变结构和强耦合动力学模型。采用高速摄像、样机实验和计算机仿真等方法，验证理论模型。研究导电橡胶等手指触觉力传感系统，提出肌肉群控方法和策略，解决柔性机械手抓取能力和精确抓取问题。在关节柔性和气动复合弹性体动力学理论等方面的创新研究，有望提出一种解决方案，实现仿生机器人领域中关节结构、运动、驱动和控制等综合柔性。

中文关键词： 复合弹性体；柔性关节；五指机械手；气动人工肌肉；动力学

英文摘要： We first propose the concept of the integral flexibility of joint, study on the large deformation theory of composite elastomer on pneumatic artificial muscle and then speculate on how to implement the structure flexibility of joint with the artificial muscle as main player. We have research on the dynamic model on the active elongation and passive bending of the pneumatic artificial muscle. Then we provide the mechanism of radial constraint instability; determine the criterion of limit working pressure and instability. In addition, we investigate on the torsion model of the single artificial muscle, then the bi-directional spiral spring is put forward to rectify the torsion, after that the mechanical model of the dual artificial muscle is built. Simultaneously, we present two types of flexible joint which is multi-chain single bending joint and bi-directional bending joint with four artificial muscles in parallel; what is more, we built the mathematical model and dynamic equation on both series and parallel structure of artificial muscles in combination. Next, we study the structure and the grasp pattern of the humanoid flexible root hand; establish the pose and posture equation according to the transformation matrix with variable parameters, we also have research on the variable structure and strong coupling d

英文关键词： Composite elastomer；Flexible joint；Five-finger robot hand；Pneumatic artificial muscle；Kinetics