PVC 凝胶基人工肌肉致动器设计与控制

摘要

To achieve contraction and expansion functions similar with natural muscle , a new structure of artificial muscle actuator was proposed based on PVC gel .Firstly ,a micro-actuation unit was designed by adopting the bending mechanism of PVC gel ,and it was allowed the deformation of linear contraction w hen charging and linear expansion w hen discharge ,then an artificial muscle actua-tor was stacked up the layers by using micro-actuation unit series .Secondly ,the total driving model of the actuator was obtained through deducing mathematical models of electrical ,electrical-machinery and mechanical subsystems ,and its rationality was verified .Finally ,simulations and experiments on position feedback control were conducted for the actuator ,and its response speed to the input signal was investigated by the frequency response .Simulation and experimental results show that the pro-posed artificial muscle actuator can realize position control effectively and it has effectiveness of linear contraction and expansion .%为实现类似自然肌肉一样的收缩和扩张功能，研发了一种新型PVC凝胶基人工肌肉致动器。首先，基于PVC凝胶弯曲变形机理，设计出具有充电时直线收缩和放电时直线扩张特性的微致动单元，进而将多个单元上下串联组合构成层级人工肌肉致动器；其次，对组成该致动器的电气、电气机械和机械三大子系统的数学模型进行推演，得到了总驱动数学模型并对其合理性进行了验证；最后，对该致动器进行了位置反馈控制仿真和实验，并分析了致动器对信号的频率响应影响情况。仿真和实验结果表明，该人工肌肉致动器能够有效地实现位置控制，具有直线收缩和扩张功能。