| 气动人工肌肉驱动多自由度平台的非线性特性 |
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| 引用本文： | 施光林,周爱国,钟廷修. 气动人工肌肉驱动多自由度平台的非线性特性[J]. 华南理工大学学报(自然科学版), 2004, 32(9): 41-45 |
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| 作者姓名： | 施光林 周爱国 钟廷修 |
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| 作者单位： | 上海交通大学,机电控制研究所,上海,200030;同济大学,机械工程学院,上海,200092 |
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| 摘 要： | 以气动人工肌肉为驱动器，构造了一个新型的多自由度平台实验系统，基于对其运动特性的分析。建立了以微分方程表达的系统的非线性动力学模型，并进一步将其变换成状态空间的仿射非线性表达形式．通过数字仿真结果和实验结果的对比，证明了所建立的数学模型的正确性，并得到了该系统的一系列非线性特性．结果表明，气动人工肌肉驱动的多自由度平台具有很好的可控性及稳定性．
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| 关 键 词： | 气动人工肌肉 多自由度平台 非线性特性 |
Nonlinear Characteristics of the Multi-DOF Platform Driven by Pneumatic Artificial Muscle |
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| Abstract. Nonlinear Characteristics of the Multi-DOF Platform Driven by Pneumatic Artificial Muscle[J]. Journal of South China University of Technology(Natural Science Edition), 2004, 32(9): 41-45 |
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| Authors: | Abstract |
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| Abstract: | An experimental system of the novel multi-deg ree of freedom (Multi-DOF) platform driven by pneumatic artificial muscle (PAM) was constructed in this paper. Based on the analysis of the kinematic property of the system, a nonlinear dynamic model of the platform system was established in the form of a differential equation. Then, it was transformed into the state space with the style of an affine nonlinear model. Furthermore, by making a comparison between the numerical simulated and the experimental results, the correctness of the model was proved and the nonlinear characteristics of the system were obtained. It is concluded that the multi-DOF platform driven by PAM is of excellent controllability and stability. |
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| Keywords: | pneumatic artificial muscle multi-DOF platform nonlinear characteristic |
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