Parallel manipulator driven by pneumatic muscle actuators

被引：5

作者：

Yang, Gang ^{[1
]}

Li, Baoren ^{[1
]}

Fu, Xiaoyun ^{[1
]}

机构：

[1] FESTO Pneumatic Center, Huazhong University of Science and Technology

来源：

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering | 2006年 / 42卷 / 07期

关键词：

Fuzzy control; Parallel manipulator; Pneumatic muscle actuator; Variable structure control;

D O I：

10.3901/JME.2006.07.039

中图分类号：

学科分类号：

摘要：

A parallel manipulator with three orientational degrees of freedom driven by pneumatic muscle actuator (PMAs) is proposed. A fuzzy variable structure controller (FVSC) is designed on the basis of analyzing kinematics and dynamics of the parallel manipulator. The experiment shows that the maximum error is 0.3 mm. When the air supply pressure is changed, the error is still less than 0.6 mm. The results demonstrate that the parallel manipulator driven by PMAs is appropriate and FVSC method is suitable for the parallel manipulator.

引用

页码：39 / 45

页数：6

共 4 条

[1]

Caldwell D.G., Medrano-Cerda G.A., Bowler C.J., Investigation of bipedal robot locomotion using pneumatic muscle actuators, Proceedings of International Conference on Robotics and Automation. Albuquerque, pp. 799-804, (1997)

[2]

Zhou C.P., Hannaford B., Static and dynamic characteristics of Mckibben pneumatic artificial muscles, Proceedings of 1994 IEEE International Conference on Robotic and Automation, 1, pp. 281-286, (1994)

[3]

Gosselin C.M., Sefrioui J., Richard M.J., On the direct kinematics of general spherical three degrees of freedom parallel manipulators, Proceedings of the 22nd ASME Mechanisms Conference, pp. 7-11, (1992)

[4]

Yang G., Li B.R., Fu X.Y., Fuzzy variable structure position control of a pneumatic muscle actuator system, Proceedings of the 6th International Conference on Fluid Power Transmission and Control, 4, pp. 357-362, (2005)

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