机械科学与技术2025，Vol.44Issue(7)：1118-1126,9.DOI:10.13433/j.cnki.1003-8728.20240162
囊式气动软体驱动器负载特性分析与跟踪控制
Load Characteristics and Tracking Control of Pneumatic Soft Actuator Capsules
摘要
Abstract
In order to design a high telescopic actuator with high power to volume ratio,simple structure and flexible contact,a pneumatic soft actuator with expansion capsule structure was proposed.A method of variable cross-section cylinder was adopted for dynamic modeling and analysis,and a position servo controller for soft actuators was designed to achieve tracking control of the desired trajectory for this type of actuator.Firstly,a mathematical model of the dynamic characteristics of the actuator driving elastomer was established,based on the requirements of flexible contact and the elastomer being the contact target.Secondly,an experiment platform for the load characteristics of soft actuators was set up,and the accuracy of the model was verified by comparing the experimental results with the simulation data.Furthermore,the influence of spring stiffness and the pressure of the constant pressure source on the driving characteristics of soft actuators was analyzed.Subsequently,a position servo control system for the soft actuator was designed by combining the dynamic model and a bounded sliding mode control strategy,and the stability of the closed-loop control system was proven using Lyapunov function theory.Finally,trajectory tracking experiments were conducted to demonstrate the feasibility and effectiveness of the position servo control system under varying load conditions.The research findings can provide theoretical guidance for the application of inflatable soft actuators.关键词
气动软体驱动器/负载特性/位置伺服/滑模控制Key words
pneumatic soft actuator/load characteristics/position servo/sliding mode control分类
信息技术与安全科学引用本文复制引用
朱庆,江堤,赵虎,涂德浴,刘庆运..囊式气动软体驱动器负载特性分析与跟踪控制[J].机械科学与技术,2025,44(7):1118-1126,9.基金项目
特种重载机器人安徽省重点实验室开放基金(TZJQR003-2024,TZJQR007-2024)与安徽省高校自然科学研究重点项目(KJ2021A0403) （TZJQR003-2024,TZJQR007-2024）
