会员注册 | 登录 | 微信快捷登录 支付宝快捷登录 QQ登录 微博登录 | 帮助中心 人人文库renrendoc.com美如初恋!
站内搜索 百度文库

热门搜索: 直缝焊接机 矿井提升机 循环球式转向器图纸 机器人手爪发展史 管道机器人dwg 动平衡试验台设计

外文翻译--两个轴气动人工肌肉机械手的一种新的相平面切换控制方法控制 英文版.pdf外文翻译--两个轴气动人工肌肉机械手的一种新的相平面切换控制方法控制 英文版.pdf -- 5 元

宽屏显示 收藏 分享

资源预览需要最新版本的Flash Player支持。
您尚未安装或版本过低,建议您

GJournalofMechanicalScienceandTechnology21200710181027JournalofMechanicalScienceandTechnologyControlofTwoAxisPneumaticArtificialMuscleManipulatorwithaNewPhasePlaneSwitchingControlMethodTUDiepCongThanhb,KyoungKwanAHNa,aSchoolofMechanicalandAutomotiveEngineering,UniversityofUlsan,KoreabMechatronicsDepartment,HoChiMinhCityUniversityofTechnology,VietNamManuscriptReceivedSeptember25,2006RevisedApril24,2007AcceptedApril242007AbstractTheuseofrobotsinrehabilitationhasbecomeanissueofincreasingimportancebecauseoftherequirementoffunctionalrecoverytherapyforlimbs.AnovelpneumaticartificialmusclePAMactuator–whichhasachievedincreasedpopularityforprovidingsafetyandmobilityassistancetohumansperformingtasks,aswellasprovidinganotheradvantagessuchashighstrengthandpower/weightratio,lowcost,compactness,easeofmaintenance,cleanliness,readilyavailable,cheappowersource,andsoon–hasbeenconsideredduringtherecentdecadesforuseinatherapyrobot,whichinparticularrequiresahighlevelofsafety.However,somelimitationsstillexist,suchasaircompressibilityandthelackofdampingabilityoftheactuatortobringthedynamicdelayofthepressureresponseandcausetheoscillatorymotion.Inaddition,toaidrehabilitationmoreefficiently,therobotshouldadjustitsimpedanceparametersaccordingtothephysicalconditionofthepatient.Forthispurpose,themanipulatorjoinisequippedwithaMagnetoRheologicalBrakeMRB.AnewphaseplaneswitchingcontrolmethodusingMRBisproposedfortrackingsinusoidalwaveforms.TheeffectivenessoftheproposedalgorithmisdemonstratedthroughanexperimentusingafabricatedtwoaxisPAMmanipulator.Theexperimentprovesthatthestabilityofthemanipulatorcouldbegreatlyimprovedusingahighgaincontrolwithoutregardtothechangeofthefrequenciesofthereferenceinputandtheexternalloadcondition,andwithoutdecreasingtheresponsespeedorloweringthestiffnessofPAMmanipulator.GKeywordsPneumaticartificialmusclePhaseplaneswitchingcontrolManipulatorMagnetorheologicalbrake1.IntroductionThenumberofpeoplerequiringrehabilitationduetobonefractureorjointdiseasecausedbytrafficaccidentsandcerebralapoplexy,andforfunctionalmotorproblemsduetoadvancedage,numbersseveralhundredsofthousandsworldwide.Theapplicationofroboticstorehabilitationisthusofgreatconcern.Functionalrecoverytherapyisnormallycarriedoutbymedicaltherapistsonapersontopersonbasis,butautomaticequipmenthasbeenputtopracticaluseinphysicaltherapyprogramsthatrepeatrelativelysimpleoperations,suchasacontinuouspassivemotionmachine,awalkingtrainingdevice,andatorquemachineusedforasingleaxisDoi,1993Fujieetal.,1994Fujieetal.,1995.Thisresearchdealswithfunctionalrecoverytherapy,oneimportantaspectofphysicalrehabilitation.SinglejointtherapymachineshavealreadybeencreatedAhnandThanh,20042005a2005b.However,multijointrobotsarenecessarytoachievemorerealisticmotionpatterns,andhencearenecessaryformoreefficienttherapy.Thiskindofrobotmusthaveahighlevelofsafetyforhumanuse.ThePAMmanipulatorhasbeenusedtoconstructatherapyrobotwithtwodegreesoffreedomDOF.A2DOFrobotforfunctionalrecoverytherapydrivenbypneumaticCorrespondingauthor.Tel.82522592282,Fax.82522591680Emailaddresskkahnulsan.ac.krTUDiepCongThanhandKyoungKwanAHN/JournalofMechanicalScienceandTechnology212007101810271019musclewasdevelopedbyZobelZobeletal.,1999andRaparelliRaparellietal.,20012003artificialmuscleactuatorsforbioroboticsystemsbyKluteKluteetal.,1999200020022003apneumaticmusclehandtherapydevicebyKoenemanKoenemanetal.,2004andahumanfriendlytherapyrobotThanhandAhn,2006a.However,somelimitationsstillexist,suchastheaircompressibilityandthelackofdampingabilityoftheactuatortobringthedynamicdelayofthepressureresponse,causingoscillatorymotion.Inaddition,toexecuterehabilitationmoreefficiently,therobotmustadjustitsimpedanceparametersaccordingtothephysicalconditionofthepatient.Forthispurpose,anewtechnology,anelectrorheologicalfluiddamperERDamper,hasbeenappliedtothePAMmanipulator.NoritsuguandhisteamusedanERdampertoimprovethecontrolperformanceofthePAMmanipulatorwithaPIcontrollerandpulsecodemodulatedonoffvalvesNoritsuguetal.,1994.Byseparatingtheregionwherethedamperproducesadampingtorquetoreconcilebothdampingandresponsespeedunderhighgaincontrol,theresultsshowthattheERdamperisaneffectivemethodforuseinapracticallyavailable,humanfriendlyrobotusingthePAMmanipulator.Moreover,positioncontrolisimprovedwithoutadecreaseinresponsespeed.However,somelimitationshamperthetechnology,sinceERFluidERFrequiresextremelyhighcontrolvoltagekV,whichisproblematic,andinparticular,potentiallydangerous,onlyoperatesinanarrowtemperaturerangeandoneunsuitableforPAMmanipulators,andexhibitsnonlinearcharacteristics.BecauseERFhasmanyunacceptabledisadvantages,magnetorheologicalfluidMRFhasbeenconsideredanattractivealternativefortheadvantageslistedinTable1,andhasbeenrecentlyusedinhumanfriendlytherapyrobotsThanhandAhn,2006b.Thoughthesesystemsweresuccessfulinaddressingsmoothactuatormotionresponsetostepinputs,assumingthattwoaxesPAMmanipulatorisutilizedintherapyrobotinthefuture,whichisthefinalgoalofourresearch,itisnecessarytorealizefastresponse,eveniftheexternalinertialoadchangesseverelywithsinusoidalresponsewithoutregardtothevariousfrequencies.Therefore,torealizesatisfactorycontrolperformance,aMRBisequippedtothejointofthemanipulator.AphaseplaneswitchingcontrolmethodusingaMRBisproposedforthecaseoftrackingsinusoidalwaveforms,andtheeffectivenessoftheproposedalgorithmwillbedemonstratedthroughtheexperimentsinvolvingatwoaxisPAMmanipulator.Theexperimentsshowthatthestabilityofthemanipulatorcouldbegreatlyimprovedunderahighgaincontrolwithoutregardtovariationsofthefrequenciesreferenceandexternalloadconditions,andwithoutdecreasingtheresponsespeedandlowstiffnessofthetwoaxisPAMmanipulator.2.Experimentalsetup2.1ExperimentalapparatusTheschematicdiagramofthetwoaxispneumaticartificialmusclemanipulatorisshowninFig.1.TheTable1.Comparisonofrheologicalfluids.MagnetoRheologicalFluidElectroRheologicalFluidMax.YieldStress50–100kPa2–5kPaViscosity0.1–1.0Pas0.1–1.0PasOperableTemp.Range40to150oC10to90oCionic,DC25to125oCnonionic,ACStabilityUnaffectedbymostimpuritiesCannottolerateimpuritiesResponseTimemillisecondsmillisecondsDensity3–4g/cm31–2g/cm3Max.EnergyDensity0.1Joule/cm30.001Joule/cm3PowerSupply2–25V1–2A2–50watts2–25KV1–10mA2–50wattsFig.1.Schematicdiagramoftwoaxespneumaticartificialmusclemanipulator.1020TUDiepCongThanhandKyoungKwanAHN/JournalofMechanicalScienceandTechnology21200710181027Fig.2.Workingprincipleofthepneumaticartificialmusclemanipulator.Fig.3.Photographoftheexperimentalapparatus.Fig.4.ConstructionofMRB.thepressuredifferencebetweentheantagonisticartificialmusclesandtheexternalloadisrotatedasaabFig.5.CharacteristicsofMRB.Table2.Experimentalhardware.No.NameModelnameCompany1ProportionalvalveMPYE51/8HF710BFesto2MagnetoRheologicalRotaryBrakeMRB21073RotaryBrakeLord3PneumaticartificialmuscleMAS10N220AAMCFKFesto4D/AboardPCI1720Advantech5WonderBoxDeviceControllerKitRD300203Lord6RotaryencoderH4083600ZOMetronix724bitdigitalcounterboardPCL833AdvantechresultinFig.2.Thejointangles,1θand2θ,weremeasuredwitharotaryencoderMETRONIX,S4883600ZOandfedbacktothecomputerthrougha24bitdigitalcounterboardAdvantech,PCL833.Theexternalinertialoadcouldbevariedfrom20kgfcm2to40kgfcm2,a200changewithrespecttotheminimuminertialoadconditionvariousfrequenciesofreferenceinputsinusoidalwaveformareconsidered.TheexperimentsareTUDiepCongThanhandKyoungKwanAHN/JournalofMechanicalScienceandTechnology212007101810271021conductedunderanambientpressureof0.4MPaandallcontrolsoftwareiscodedinCprogramlanguage.AphotographoftheexperimentalapparatusisshowninFig.3.2.2CharacteristicsofMRBThedesignoftheMRBisshowninFig.4.Therotorisfixedtotheshaft,whichcanrotaterelativetothehousing.ThegapbetweentherotorandhousingisfilledwithMRF.ThebrakingtorqueoftheMRBcanbecontrolledbytheelectriccurrentinitscoil.TheapparentviscosityoftheMRFischangedwithinafewmillisecondsoftheapplicationofamagneticfield,andreturnstoitsnormalviscosityintheabsenceofamagneticfield.ThefollowingexperimentsareperformedtoinvestigatethecharacteristicsofMRBmeasurementdataisreportedinFig.5andTable3.TheMRBisconnectedwithatorquetransducerandaservomotorinseries.Intheexperiments,therotationalspeedisvariedfrom100rpmto1000rpmandtheappliedcurrentfrom0Ato1A.Theserangesareusedbecausetheresponseofthesystemdoesnotreach1000rpmandthemaximumcurrentappliedforMRBis1A.Figure5showsthedampingtorquewithrespecttothechangeoftheinputcurrentaandrotationalspeedbofMRBrake.FromFig.5,itisclearthatthedampingtorqueofMRBisindependentofrotationalspeedandalmostproportionaltoinputcurrent.Thus,Eq.1forinputscurrentIanddampingtorqueTbTable3.MeasurementdataofMRB.W/I00.10.20.30.40.50.60.70.80.911000.280.811.331.872.442.933.514.034.55.115.572000.310.821.331.922.42.963.573.994.545.125.673000.30.811.361.892.482.993.544.034.555.135.584000.310.821.351.942.462.983.554.054.595.055.625000.310.831.371.872.42.993.554.084.615.065.586000.30.831.361.872.4833.534.054.545.065.557000.280.861.371.92.463.013.544.034.555.045.558000.290.861.371.92.443.053.544.084.595.045.589000.290.891.411.922.533.053.574.114.585.015.6110000.290.891.441.932.533.043.574.144.615.035.59WRotationalSpeedrpmICurrentAppliedAbTfIabI1Here,aandbareconstantsdeterminedusingcharacteristicMRBresponsecurve.3.Controlsystem3.1PositioncontrolsystemTocontrolthisPAMmanipulator,aconventionalPIDcontrolalgorithmisusedasthebasiccontrollerinthisresearch.Thecontrolleroutputcanbeexpressedinthetimedomainasfollows0tpppdiKdetutKetetdtKTTdg1792TakingtheLaplacetransformof2yieldspppdiKUsKEsEsKTsEsTs3TheresultingtransferfunctionofthePIDcontrolleris11pdiUsKTsEsTsg167g183g168g184g169g1854Atypicalrealtimeimplementationatsamplingsequencekcanbeexpressedasfollows11ppipdKTukKekukekTekekKTT−−−5whereukandekarethecontrolinputtothecontrolvalveandtheerrorbetweenthedesiredsetpointandtheoutputofjoint,respectively.Inaddition,usinganMRBisaneffectivewaytoimprovethecontrolperformanceofthePAMmanipulatorbyreconcilingboththedampingandresponsespeedbecauseitworksinonlytheregionswheretheaccelerationordecelerationistoohigh.Here,sisLaplacevariable,Taisthetorqueproducedbythemanipulator,Tcisconstanttorque,KEDdeterminesthegainforthetorqueproportionaltotheangularspeedθg5,andVcisacontrolvoltageofsourcecalculatedfromEq.1toproduceTc.The
编号:201311171529526837    大小:327.52KB    格式:PDF    上传时间:2013-11-17
  【编辑】
5
关 键 词:
教育专区 外文翻译 精品文档 外文翻译
温馨提示:
1: 本站所有资源如无特殊说明,都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
2: 本站的文档不包含任何第三方提供的附件图纸等,如果需要附件,请联系上传者。文件的所有权益归上传用户所有。
3.本站RAR压缩包中若带图纸,网页内容里面会有图纸预览,若没有图纸预览就没有图纸。
4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
5. 人人文库网仅提供交流平台,并不能对任何下载内容负责。
6. 下载文件中如有侵权或不适当内容,请与我们联系,我们立即纠正。
7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。
  人人文库网所有资源均是用户自行上传分享,仅供网友学习交流,未经上传用户书面授权,请勿作他用。
0条评论

还可以输入200字符

暂无评论,赶快抢占沙发吧。

当前资源信息

4.0
 
(2人评价)
浏览:17次
英文资料库上传于2013-11-17

官方联系方式

客服手机:13961746681   
2:不支持迅雷下载,请使用浏览器下载   
3:不支持QQ浏览器下载,请用其他浏览器   
4:下载后的文档和图纸-无水印   
5:文档经过压缩,下载后原文更清晰   

相关资源

相关资源

相关搜索

教育专区   外文翻译   精品文档   外文翻译  
关于我们 - 网站声明 - 网站地图 - 友情链接 - 网站客服客服 - 联系我们
copyright@ 2015-2017 人人文库网网站版权所有
苏ICP备12009002号-5