机械工程 |
|
|
|
|
气动肌肉-气缸并联平台结构设计及位姿控制 |
陶国良,左赫,刘昊 |
1.浙江大学 机械工程学系,浙江 杭州 310027 |
|
Structure design and motion control of parallel platform driven by pneumatic muscles and air cylinder |
TAO Guo-liang, ZUO He, LIU Hao |
1.Department of Zhejiang University, Hangzhou 310027, China |
[1] MENG Wei, ZHOU Zu-de, LIU Quan, et al. A practical fuzzy adaptive control strategy for multi-DOF parallel robot [C]∥Proceedings of the 2nd International Symposium on Computer, Communication, Control and Automation (ISCCCA-13). Paris: Atlantis Press, 2013: 620-623.
[2] DASGUPTA B, MRUTHYUNJAYA T S. The Stewart platform manipulator: A review [J]. Mechanism and Machine Theory, 2000, 35: 1540.
[3] 武卫, 王占林. 基于小脑模型神经网络的气动六自由度并联平台的复合控制方法研究[J]. 机械科学与技术. 2008, 27(6): 748-751.
WU Wei, WANG Zhan-lin. A compound control method for a six-DOF parallel pneumatic manipulator based on CMAC networks [J]. Mechanical Science and Technology for Aerospace Engineering, 2008, 27(6): 748-751.
[4] 傅晓云, 方敏, 李宝仁. 气动人工肌肉刚度特性的分析[J]. 机床与液压, 2007, 35(2): 109-111.
FU Xiao-yun, FANG Min, LI Bao-ren. Theoretic analysis of stiffness characteristics of the pneumatic muscle actuator [J]. Machine Tool & Hydraulics, 2007, 35(2): 109-111.
[5] 施光林, 沈伟. 气动人工肌肉并联平台自适应模糊CMAC姿态跟踪控制[J]. 中国机械工程, 2012, 23(2): 171-176.
SHI Guang-lin, SHEN Wei. Adaptive fuzzy CMAC position tracking control of parallel platform based on pneumatic artificial muscles [J]. China Mechanical Engineering, 2012, 23(2): 171-176.
[6] JAMWAL P K, XIE Sheng-quan, AW K C. Design analysis of a pneumatic muscle driven wearable parallel robot for anlde joint rehabilitation [C]∥ Mechatronics and Embedded Systems and Applications (MESA).Qingdao: IEEE, 2010: 403-408.
[7] TAO Guo-liang, ZHU Xiao-cong, YAO Bin, et al. Adaptive robust posture control of a pneumatic muscles driven parallel manipulator with redundancy [C]∥Proceedings of the 2007 American Control Conference.New York City,USA: IEEE, 2007: 3409-3413.
[8] 朱笑丛, 陶国良. 气动人工肌肉伺服平台的建模. 浙江大学学报:工学版 [J], 2004, 38(8): 1056-1060.
ZHU Xiao-cong, TAO Guo-liang. Modeling of a servo platform driven by pneumatic artificial muscles [J]. Journal of Zhejiang University :Engineering Science, 2004, 38(8): 1056-1060.
[9] TONDU B , LOPEZ P. Modeling and control of McKibben artificial muscle robot actuators [J]. Journal of Dynamic Systems, Measurement, and Control, 2000, 122(3): 416.
[10] ZUO He, TAO Guo-liang, ZHU Xiao-cong. Modeling and enhancement of McKibben pneumatic muscle actuators [J]. Advanced Materials Research, 2012, 591-593: 793-796.
[11] ANDRIGHETTO P L, VALDIERO A C, CARLOTTO L. Study of the friction behavior in industrial pneumatic actuators [J]. ABCM Symposium Series in Mechatronics, 2006, 2(2): 369-376.
[12] RICHER E , HURMUZLU Y. A high performance pneumatic force actuator system Part I-Nonlinear mathematical model [J]. Issue of ASME Journal of Dynamic Systems Measurement and Control, 2000, 122(3): 416-425.
[13] JAMES E B, BRIAN W M. Modeling, identification, and control of a pneumatically actuated, force controllable robot [J]. IEEE Transactions on Robotics and Automation, 1998, 14(5): 732-742.
[14] OLABY O, BRUN X, SESMAT S, et al. Characterization and modeling of a proportional valve for control synthesis [C]∥ Proceedings of the 6th JFPS International Symposium on Fluid Power. Tsukuba, Japan: Japan Fluid Power System Society, 2005: 77276.
[15] 孔祥臻, 刘延俊, 王勇等. 气动比例阀的死区补偿与仿真. 山东大学学报:工学版 [J]. 2006, 36(1): 99-102.
KONG Xiang-zhen, LIU Yan-jun, WANG Yong, et al. Compensation and simulation for the deadband of the pneumatic proportional valve. Journal of Shandong University :Engineering Science [J] .2006, 36(1): 99-102.
[16] YAO Bin, TOMIZUKA M. Adaptive robust control of MIMO nonlinear systems in semi-strict feedback forms [J]. Automatica, 2001, 37: 1305-1321. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
|
Shared |
|
|
|
|
|
Discussed |
|
|
|
|