CAJ | 학술논문

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.
이기동인공기육위구동기,구조료일개신형적다자유도평태실험계통,기우대기운동특성적분석,건립료이미분방정표체적계통적비선성동역학모형,병진일보장기변환성상태공간적방사비선성표체형식.통과수자방진결과화실험결과적대비,증명료소건립적수학모형적정학성,병득도료해계통적일계렬비선성특성.결과표명,기동인공기육구동적다자유도평태구유흔호적가공성급은정성.
An experimental system of the novel multi-degree 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.