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Passive control method of flexible manipulator based on ionic polymer metal composites

A technology of metal composite materials and ionic polymers, applied in the passive control of various physical scale models, the field of passive control of ionic polymer metal composite flexible manipulators, can solve the physical system that rarely considers flexible manipulators Energy problems and other problems, to achieve the effect of increasing speed, eliminating elastic vibration, and increasing movement speed

Active Publication Date: 2021-11-26
ZHEJIANG UNIV CITY COLLEGE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these research methods all simplify the model, and seldom consider the energy problem of the physical system of the entire flexible manipulator.

Method used

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  • Passive control method of flexible manipulator based on ionic polymer metal composites
  • Passive control method of flexible manipulator based on ionic polymer metal composites
  • Passive control method of flexible manipulator based on ionic polymer metal composites

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0133] Embodiment 1 of the present application provides a single chip such as figure 1 The shown IPMC-driven passive control method for flexible manipulators based on ionomer-metal composites.

[0134] Step 1. Establish an endoscopic flexible manipulator model driven by ionic polymer metal composite (IPMC). The endoscopic flexible manipulator model is a composite physical system composed of a flexible mechanical beam module and an IPMC drive module (there are various physical phenomenon); according to the state equation of the flexible mechanical beam module and the IPMC drive module, the energy equation of the composite physical system is obtained;

[0135] Step 1.1, the state equation of the flexible mechanical beam module uses the state equation of the Timoshenko beam model, expressed as follows:

[0136]

[0137] In the above formula, z is the space variable, t is the time variable; w(z,t) is the lateral displacement; is the rotation angle of the beam; the coefficien...

Embodiment 2

[0236] On the basis of Embodiment 1, Embodiment 2 of the present application provides a method such as Figure 4 The shown passive control method of the ionopolymer-metal composite flexible manipulator driven by a monolithic IPMC based on port Hamiltonian modeling.

[0237] Use the dSPACE software and hardware work platform and computer (with Matlab Simulink) to generate control signal U∈[0, 7V] on the IPMC drive module, and the measured value is the displacement of the flexible manipulator and the voltage applied to the IPMC actuator 12. The displacement is detected by the laser displacement sensor (LK-G152) of KEYENCE Company. This embodiment adopts the corresponding mechanical arm type I, which is driven by a piece of IPMC, and is used to verify the control method and the influence of the control parameters on the control results.

[0238] Specifically include the following steps:

[0239] Step 1. Establish the port Hamiltonian model of the endoscopic flexible manipulator...

Embodiment 3

[0244] On the basis of Embodiment 2, Embodiment 3 of the present application provides a method such as Figure 8 The shown passive control method of the ionopolymer-metal composite flexible manipulator driven by two pieces of IPMC based on port Hamiltonian modeling.

[0245] Use the dSPACE software and hardware work platform and computer (with Matlab Simulink) to generate control signal U∈[0, 7V] on the IPMC drive module, and the measured value is the displacement of the flexible manipulator and the voltage applied to the IPMC actuator 12. The displacement is detected by the laser displacement sensor (LK-G152) of KEYENCE Company. Embodiment 2 corresponds to the type II robotic arm, which is driven by two IPMCs, and is used to verify the effectiveness of the control method for the robotic arm driven by multiple IPMCs.

[0246] Step 1. Establish the port Hamiltonian model of the endoscopic flexible manipulator driven by IPMC. The composite model includes a flexible mechanical b...

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Abstract

The invention relates to a passive control method of an ion polymer metal composite material flexible manipulator based on port Hamiltonian modeling, comprising the steps of: establishing an endoscopic flexible manipulator model driven by an ion polymer metal composite material; according to the flexible machine The energy equation of the composite physical system is obtained from the state equation of the beam module and the IPMC drive module; by establishing the port Hamiltonian model, it is proved that the endoscopic flexible manipulator model is passive; the entire open-loop system remains interconnected and stable; further through cascading and damping Configure the passive control method to design the controller for the flexible manipulator, preset the feedforward passive control parameters, and make the endoscopic flexible manipulator model passive. The beneficial effects of the present invention are: to propose a passive control method for the flexible manipulator, so that the flexible manipulator can achieve dynamic balance and at the same time suppress the elastic vibration, and realize real-time movement of the endoscope manipulator in the human body environment control.

Description

technical field [0001] The invention belongs to the control field of manipulators, and in particular relates to a passive control method for a flexible manipulator based on port Hamiltonian modeling of ion polymer metal composite materials, in particular to a variety of methods for flexible manipulators based on port Hamiltonian modeling. Passive control methods for physical-scale models. Background technique [0002] The environment of the human body structure is complex and fragile, and the degree of freedom of rigid surgical equipment is relatively low, which will cause great limitations to the operation. In the field of medical devices, the flexible robotic arm has a high degree of freedom and less trauma to the human body. Ionic polymer metal composite IPMC (electroactive polymer, EAP) is a new type of intelligent polymer material. When an external electric field is applied, the internal structure of the electroactive polymer changes, and the electrostatic attraction b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607
Inventor 周维钧李艳君
Owner ZHEJIANG UNIV CITY COLLEGE