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STUDY ON THE CONTROL OF SINGLE pneumatic muscle actuator

Chinese Journal of Mechanical Engineering 2003年第4期16卷 428-432页

作者： FanWei PengGuangzheng ChaiSenchun NingRuxin SchoolofMechanicsandVehicleEngineering BeijingInstituteofTechnologyBeijing100081China SchoolofInformationTechnology BeijingInstituteofTechnologyBeijing100081China

The control of single pneumatic muscle actuator is studied, as one basic partof research on the parallel-robot arthrosis actuated by pneumatic muscle actuators. Experimentsshow that a self-modified fuzzy-PID controlle... 详细信息

关键词： pneumatic muscle actuator Position servo Force track Self-modified fuzzy Fuzzy-PID

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Position Control of Single pneumatic muscle actuator

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Journal of Beijing Institute of Technology 2005年第1期14卷 63-66页

作者：范伟彭光正宁汝新 School of Information Science and Technology Beijing Institute of Technology Beijing100081 China School

The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously effective for the position control of single pneumatic muscle actuator, which can realize precision within 0.3 mm and withstand 18?N variable load plus about 36?N fixed load. It is relatively precise and robust.

关键词： pneumatic muscle actuator position control self-organized fuzzy fuzzy-PID

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pneumatic bio-soft robot module:Structure,elongation and experiment

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International Journal of Agricultural and Biological Engineering 2017年第2期10卷 114-122页

作者： Bao Guanjun Yao Pengfei Xu Zonggui Li Kun Wang Zhiheng Zhang Libin Yang Qinghua College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310014China

Soft robotics,often taking inspirations from biomimetics,is an exciting novel research field and has great capability to work with creatures.A new type of bio-soft robot inspired by elephant trunk and octopus was proposed,which has a promising application in robotic agricultural *** two modularized structures,basal segment and caudal segment,were elaborated in *** both have three side chambers and one central chamber,which are reinforced by springs for better stretch performance in axial direction without radial *** the chambers can act as drivers when inflated with compressed *** importantly,the central chamber was designed for regulating the stiffness of the robot module as needed in *** primary static model for axial elongation was established for the fundamental analysis of the bio-soft robot module’s features,such as iso-force,isobaric and isometric *** and experimental results showed that the motion of the proposed bio-soft module has approximate linearity in iso-force and isobaric conditions,and strict linearity in isometric condition.

关键词： bio-soft robot pneumatic muscle actuator static model harvesting robot

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Study on the Humanoid Robot Arm Actuated by pneumatic muscle

Study on the Humanoid Robot Arm Actuated by Pneumatic Muscle

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第五届流体传动与控制国际会议

作者： Wang Yifeng~* Peng Guangzheng Yang Yugui Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China

＜正＞pneumatic muscle actuator（PMA）is a novel pneumatic flexible actuator with high power-weight ratio,compliance nature and easy operation,and is widely used as the actuator of robots. In this paper,pneumatic muscle actuators are applied to a 7 degree of freedom（DOF）humanoid robot *** humanoid robot arm consists of the muscle assembly of the shoulder joint,elbow joint and wrist *** arm is divided into upper arm and *** the muscles for the elbow joint and wrist joint are placed on the upper *** it can easily form a whole humanoid arm by combining with human-like dexterous *** the kinematics analysis of the mechanism model of the humanoid robot arm is *** dealing with the complexity in gaining inverse kinematics solution of 7-DOF manipulator,a new approach based on genetic algorithm（GA）and BP neural network is proposed. Simulation shows that the method proposed in the paper is practicable,provides a complete new approach for inverse kinematics solution of manipulator of any redundancy.

关键词： pneumatic muscle actuator Humanoid Robot Arm Kinematics Redundancy

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