21 results about "Pneumatic artificial muscles" patented technology

This invention belongs to the field of robot control and provides a control method and system for a pneumatic artificial muscle parallel robot based on hysteresis compensation. The control method includes: constructing a dynamic model of the pneumatic artificial muscle parallel robot based on its state information; constructing a fractional-order Bouc-Wen hysteresis model and its corresponding inverse model based on the dynamic model; performing hysteresis feedforward compensation based on the fractional-order Bouc-Wen hysteresis model and its corresponding inverse model; and constructing an output feedback synchronization controller by combining a pre-designed tracking error, synchronization error, coupling error, and velocity estimation system to act on the pneumatic artificial muscle parallel robot, thereby achieving rapid and accurate tracking of a smooth reference trajectory by the active arm.

The invention discloses a pneumatic artificial muscle driven soft rehabilitation glove, and belongs to the technical field of rehabilitation medical instruments, the pneumatic artificial muscle driven soft rehabilitation glove comprises a glove, driving assemblies and an air path conversion base, the glove comprises a finger sleeve, a phalanx sleeve and a palm sleeve, one end of a stretching tendon rope located on the hand back side is connected with the finger sleeve, the phalanx sleeve and the palm sleeve, and the other end of the stretching tendon rope is connected with one driving assembly; one end of the bent tendon rope located on the palm side is also connected with the fingerstall, the phalanx sleeve and the palm sleeve, the other end of the bent tendon rope located on the palm side is also connected with the other driving assembly, the two driving assemblies are connected with the two air path conversion bases respectively, the two air path conversion bases are connected through a bandage buckle, and the two air path conversion bases sleeve and are locked at the positions of the arms of the human body. The technical problems that an existing rehabilitation glove is high in structural rigidity and poor in wearing comfort, the maintenance cost is high due to an integrated structure, and motion antagonism and joint motion range limitation are generated due to lack of passive ductility of artificial muscles can be solved.

This application provides a preset performance dynamic surface trajectory tracking control method for a robotic arm system. The method includes the following steps: Step 1, analyzing the total kinetic and potential energy of the robotic arm system using the Lagrange formula, and solving for the control torque using a pneumatic artificial muscle mechanics model and rotational laws to establish a dynamic model of the robotic arm system; Step 2, designing a fixed-time disturbance observer to monitor the total disturbance of the system in real time, addressing the strong nonlinearity and joint coupling and frictional disturbance problems of the robotic arm system; Step 3, designing a preset performance fixed-time dynamic surface controller to compensate for the total disturbance of the system in real time, and designing a control law to enable the angular positions of each joint of the robotic arm system to quickly track the desired target trajectory signal within the allowable error range, thereby achieving the preset transient and steady-state performance constraints within a fixed time and ensuring that all signals of the multi-joint pneumatic robotic arm closed-loop system are bounded.

The application relates to the technical field of automobile safety belts and discloses an automobile safety belt pre-winding and pre-tightening system based on pneumatic artificial muscles, which comprises an automobile seat, a three-point safety belt assembly, a pre-winding and pre-tightening execution assembly and a pre-winding and pre-tightening controller. The three-point safety belt assembly comprises a winder, a safety belt guide, a safety belt, a pluggable lock and an unpluggable lock. The winder is fixed to the automobile seat or the vehicle body, and the safety belt guide is fixed to the vehicle body B column. The automobile safety belt pre-winding and pre-tightening system based on pneumatic artificial muscles and the control method are characterized in that a split two-way design is adopted, a pre-tightening pneumatic artificial muscle is used to replace a traditional pyrotechnic pre-tightening mechanism, a pre-winding pneumatic artificial muscle is used to replace a motor pre-winding mechanism, the pre-winding and pre-tightening functions are completely separated from the winder, the winder only retains basic force limiting and locking functions, and the system structure is greatly simplified, so that the overall weight, volume and vehicle manufacturing cost are reduced.

The invention relates to a three-dimensional hysteresis modeling method for pneumatic artificial muscle input-displacement-force coupling, which comprises the following steps of: disassembling a modeling process into a superposition form of two forces, respectively modeling in two stages, then superposing models of two parts according to an analysis process of the forces, and finally systematically forming a three-dimensional hysteresis model. The three-dimensional hysteresis model is a model of output force, which means that the model not only can capture the input-displacement-force three-dimensional hysteresis characteristic of the pneumatic artificial muscle, but also can estimate the output force of the pneumatic artificial muscle, and a model which does not need a black box method and has a clear mathematical formula is established. This is the core of the method provided by the invention.

The application provides a nested vacuum-driven tension-enhanced pneumatic artificial muscle and relates to the technical field of flexible actuators.The nested vacuum-driven tension-enhanced pneumatic artificial muscle comprises a negative pressure collapse driving module and a positive pressure expansion and collapse driving module, has a first cavity and a gas extraction hole structure; the positive pressure expansion and collapse driving module has a second cavity and a gas passage hole structure, the second cavity is communicated with the external atmosphere through the gas passage hole structure; the positive pressure expansion and collapse driving module is embedded in the first cavity, and the axial ends of the positive pressure expansion and collapse driving module are fixedly installed with the negative pressure collapse driving module, respectively, a gas cavity is formed between the positive pressure expansion and collapse driving module and the negative pressure collapse driving module, and the gas cavity is communicated with a vacuum pump through the gas extraction hole structure; the vacuum pump extracts gas from the gas cavity through the gas extraction hole structure, so that the negative pressure collapse driving module is contracted along the axial direction of the negative pressure collapse driving module and the positive pressure expansion and collapse driving module is expanded along the radial direction of the positive pressure expansion and collapse driving module and is contracted along the axial direction of the positive pressure expansion and collapse driving module; and the application can improve the output force of the pneumatic artificial muscle.

According to the pneumatic artificial muscle based on the annular air bag, an air bag assembly comprises the annular air bag, a wiring device and a silk thread, a plurality of L-shaped through holes are formed in the wiring device, one end of each L-shaped through hole faces the inner circumferential direction of the annular air bag in the radial direction of the annular air bag, and the other end of each L-shaped through hole faces the terminal direction in the axial direction of the annular air bag; the silk thread penetrates through the L-shaped through hole, one end of the silk thread is arranged on the inner circumferential surface of the annular air bag, and the other end of the silk thread is connected with the terminal or connected with the silk thread of the adjacent air bag assembly; the outer protection film is arranged on the outer sides of the multiple air bag assemblies in a sleeving mode, terminals are arranged at the two ends of the outer protection film correspondingly, and connecting pieces are arranged on the terminals. Through the cooperation of the annular air bag and the wiring device, the change of the radial distance of the annular air bag is converted into the change of the axial distance of the terminal, that is, the change of the radius of the inner ring of the annular air bag is converted into the change of the telescopic length of the artificial muscle, the shrinkage rate is greatly improved, the shrinkage rate reaches 70% in reality, and the device has the advantages of being simple in structure, efficient and convenient.

The invention discloses a beneficial disturbance perception-oriented pneumatic artificial muscle manipulator control method and system, and belongs to the technical field of pneumatic system control, and the method comprises the following steps: constructing a nonlinear kinetic model of a pneumatic artificial muscle manipulator system according to a three-element model of pneumatic artificial muscle and a kinetic equation of a manipulator, defining an angle error and an angular velocity error when the manipulator moves; a nonlinear controller based on beneficial disturbance perception is constructed by taking the control targets that the motion angle of the manipulator reaches an expected position and the tracking angle error converges to 0 and considering unknown dynamic state and external disturbance in the system; and according to the angle, obtained through actual measurement, of the manipulator during movement, the constructed nonlinear controller is used for determining the input air pressure of the pneumatic artificial muscle so as to drive the manipulator to move. Accurate and efficient angle tracking control of the manipulator under external disturbance can be achieved, and stable and efficient operation of the system is guaranteed.

The invention provides a nested vacuum driving tension-enhanced pneumatic artificial muscle, and relates to the technical field of flexible actuators, the nested vacuum driving tension-enhanced pneumatic artificial muscle comprises a negative pressure collapse driving module and a positive pressure expansion driving module, and is provided with a first cavity and an air exhaust hole structure; the positive pressure expansion and contraction driving module is provided with a second cavity and a vent hole structure, and the second cavity is communicated with the external atmosphere through the vent hole structure; the positive pressure expansion and contraction driving module is embedded in the first cavity, the two axial ends of the positive pressure expansion and contraction driving module and the negative pressure collapse driving module are fixedly installed, an air cavity is formed between the positive pressure expansion and contraction driving module and the negative pressure collapse driving module, and the air cavity communicates with a vacuum pump through an air exhaust hole structure; the vacuum pump exhausts air in the air cavity through the air exhaust hole structure, so that the negative pressure collapsing driving module shrinks in the axial direction of the negative pressure collapsing driving module and the positive pressure collapsing driving module expands in the radial direction and shrinks in the axial direction of the positive pressure collapsing driving module; the output acting force of the pneumatic artificial muscle can be improved.

The application discloses a kind of multi-mode dynamic loading control system and control method for microgravity environment waist protection equipment, comprising: wearing module, loading module and control module;Wearing module includes shoulder strap, waistband and leg belt, for fixing system to human body trunk;Loading module includes four independently controlled pneumatic artificial muscles, the upper end of each pneumatic artificial muscle is connected with shoulder strap by connecting piece, and the lower end is connected with waistband by connecting piece;Control module includes micro air pump, proportional pressure valve, single-chip microcomputer and power supply;Micro air pump as gas source;Multiple proportional pressure valves, the number is same with the number of pneumatic artificial muscle, the gas inlet of each proportional pressure valve is communicated with the gas outlet of micro air pump, and the gas outlet of each proportional pressure valve is communicated with the gas inlet of a corresponding pneumatic artificial muscle;Proportional pressure valve is built-in with air pressure sensor, for real-time measurement output air pressure and generating feedback voltage signal;Single-chip microcomputer is electrically connected with micro air pump, the control end and feedback end of multiple proportional pressure valves.The application can meet the environment of space station light weight, low noise, high reliability requirement.

The present application relates to the field of automated logistics equipment, in particular to a kind of material automated stacking device and method thereof;Including: the construction of the multi-field coupling end effector containing particle block layer and reverse prestressed air chamber;Flexible covering amorphous material is utilized by pneumatic artificial muscle;Rigid casting effect is generated by vacuumizing inner cavity and inflating outer cavity coupling, and the form of material is locked;High-speed trajectory conveying is executed, and release is completed based on the pulse airflow of pneumatic impedance feedback adjustment.This application effectively eliminates the internal rheology of soft packaging material, crosses uneven area through stiffness compensation mechanism, and solves the problem of sliding and stacking collapse caused by center of gravity change.

The invention belongs to the technical field of robots, and provides a rigid-flexible coupling external muscle robot and an exercise training method.The rigid-flexible coupling external muscle robot comprises a binding device, a flexible external muscle driving system and a rigid supporting system; the binding device comprises flexible wearing assemblies fixed to the shoulders, the back and the abdomen of a user. The flexible external muscle driving system comprises pneumatic artificial muscle driving units, and the pneumatic artificial muscle driving units are connected to flexible wearing assemblies at different parts through anchor points so as to achieve forward flexion, dorsal flexion, lateral flexion and torsion of the trunk. The rigid supporting system is of a four-degree-of-freedom parallel passive rigid structure and provides passive damping changing along with the movement speed, and the rigid supporting system is located on the outer side of the flexible outer muscle driving system and connected to the flexible wearing assemblies at different parts through anchor points. The robot can conform to the natural motion curve of the human body, provides flexible assistance, can also provide necessary mechanical support and safety protection, and has the multi-degree-of-freedom training ability.

The application belongs to the technical field of soft robots, and relates to a composite variable-stiffness flexible mechanical arm, which comprises N composite variable-stiffness flexible joints; the composite variable-stiffness flexible joint comprises an upper fixed cover, a lower fixed cover, a plurality of groups of external artificial muscles between the upper fixed cover and the lower fixed cover, and a middle artificial muscle arranged at a central position, the external artificial muscle is a pneumatic artificial muscle; the middle artificial muscle comprises a muscle cylinder, the muscle cylinder is internally provided with a spiral carbon nanotube and a magneto-rheological fluid; both ends of the spiral carbon nanotube are connected with electrodes. The spiral carbon nanotube and the magneto-rheological fluid are integrated into the structure of the middle artificial muscle, when the spiral carbon nanotube is electrified, a magnetic field is generated, the magnetic field can directly change the stiffness of the internal magnetic fluid and the external magneto-rheological fluid of the spiral carbon nanotube, so that the complex motion of the mechanical arm is realized; the composite variable-stiffness flexible mechanical arm has good stability, light mass, and extremely high fatigue life; and the composite variable-stiffness flexible mechanical arm has high power and fast reaction speed.

The invention relates to a pneumatic artificial muscle nerve teaching model and system, which are combined with a pneumatic artificial muscle nerve teaching model technology and adopt an aluminum alloy frame and a 3D printing bone surface model to construct a limb structure. The system receives an instruction through the voice recognition module, the Arduino controller coordinates the LED lamp strip display system and the dual-motor driving system, and nerve conduction path visualization and joint precise control are achieved. Innovation points comprise multi-mode interaction, pathological phenomenon quantitative simulation (folding knife phenomenon / spasm / ankylosis), muscular tension grading and safety mechanism design. The application scene covers basic anatomy teaching, neuroscience learning, rehabilitation training and clinical skill assessment, supports Ashworth grading comparison and upper motor neuron injury simulation, improves teaching immersion and clinical association ability, and has the characteristics of modular design, convenience in maintenance and upgrading, safety and reliability.

Provided is a wrist-hand orthosis, which relates to the technical field of medical devices. The wrist-hand orthosis comprises a tensioning integrated finger sleeve, a pneumatic artificial muscle, and an inflation component. The tensioning integrated finger sleeve is capable of generating flexion / extension deformation by means of the contraction / extension of an elastic assembly on one side of a finger pulp. The pneumatic artificial muscle is arranged on one side of the finger pulp of the tensioning integrated finger sleeve. The pneumatic artificial muscle is in communication with the inflation component by means of an air guide tube. When a wrist joint performs a back extension action, the inflation component is driven to inflate, and the pneumatic artificial muscle inflates and contracts to drive a tensioning finger joint to flex. When the wrist joint performs a flexion action, the inflation component is driven to deflate, and the pneumatic artificial muscle deflates and extends to drive the tensioning finger joint to extend. The inflation component is suitable for being fixed on the back side of the wrist. The wrist-hand orthosis has the advantages of adjustable muscle strength, good adaptability, high patient activity, and the like. The wrist-hand orthosis has a good clinical effect of bidirectional assistance for finger flexion and extension, and thus is suitable for different stages of rehabilitation training requirements of stroke patients.

The invention discloses a soft pneumatic artificial muscle with a body motion state self-sensing function, and relates to the technical field of soft robots, the soft pneumatic artificial muscle comprises a silica gel sleeve, a strain detection element, an outer layer constraint net and a gas circuit connecting assembly. The middle shaft of the silica gel sleeve is a cylindrical cavity and is used as a carrier for inflation expansion; the irregular expansion deformation of the silica gel sleeve is converted into expected geometric change by the outer-layer constraint net; the gas circuit connecting assembly isolates inner and outer spaces to ensure the overall air tightness of the artificial muscle; the strain detection element is filled with a liquid conductive material, and deformation of the artificial muscle is converted into resistance response; the silica gel sleeve, the flexible substrate of the strain detection element and the top packaging layer are all made of flexible silica gel materials, and the overall flexibility of the artificial muscle is guaranteed. According to the invention, the strain detection element is introduced into the artificial muscle, so that the dependence on external sensing equipment is eliminated, the independent operation in a complex unknown environment can be realized, and the practical engineering application value of the soft robot technology is improved.

The application discloses a kind of " artificial muscle " soft driver bionic control method based on pulse neural network, the method is with rough adjustment based on feedforward controller of rough inverse model, with fine adjustment based on cerebellum controller of pulse neural network, real-time compensation modeling uncertainty and environmental interaction uncertainty is realized through online learning method.The application uses representative " artificial muscle " soft driver-pneumatic artificial muscle, realizes a kind of pulse neural network that imitates mammal cerebellum neural working mechanism, realizes the efficient, robust, adaptive control for highly nonlinear, time-varying " artificial muscle " soft driver.

The application discloses a kind of based on sarcomere's bionic flexible driver, belong to soft robot technical field.The driver includes external pneumatic artificial muscle driving unit group, internal bionic tension integral framework and upper and lower connecting disc buckle group.External pneumatic artificial muscle driving unit group is made of four external pneumatic artificial muscle driving units distributed in cross shape, as active driving source;Internal tension integral framework realizes self-balancing and self-stabilization by prestress.By differentiating pressure to each external pneumatic artificial muscle driving unit, control its generation non-uniform axial contraction, to drive the whole realization controllable bending movement.The application fuses sarcomere bionic principle and tension integral structure, while maintaining good compliance, significantly improves stiffness and stability, effectively solves the problem of weak rigidity, slow response and insufficient deformation control precision of traditional flexible driver, and is suitable for robot operation scene needing high flexibility and environmental adaptability.

The invention relates to the field of automatic logistics equipment, in particular to an automatic material stacking device and method. Comprising the steps that a multi-field coupling end effector containing a particle blocking layer and a reverse prestress air chamber is constructed; the amorphous material is flexibly coated with the pneumatic artificial muscle; a rigid casting mold effect is generated through inner cavity vacuumizing and outer cavity inflation coupling, and the material form is locked; and high-speed variable-track conveying is executed, and pulse airflow is adjusted based on pneumatic impedance feedback to complete release. According to the invention, the internal rheology of the flexible package material is effectively eliminated, and the problems of slippage and stacking collapse caused by gravity center change are solved by compensating a rigidity mechanism to span an uneven area.

The application provides a multi-joint cooperative motion control method and system of a humanoid robot, and relates to the technical field of robot control. The application obtains gait phase data of a humanoid robot in different motion states, including a walking state, a running state and an emergency stop state. According to the gait phase data, a gait phase transition matrix is generated to determine a motion mode switching point and further determine a hysteresis compensation opportunity of a pneumatic artificial muscle to perform hysteresis compensation processing on the pneumatic artificial muscle of each lower limb joint of the humanoid robot to obtain a joint motion state. The angle change rate and motion acceleration parameters in the joint motion state are analyzed to generate a biological inspiration electric signal. According to the joint cooperative angle threshold and motion triggering time of the biological inspiration electric signal, each lower limb joint of the humanoid robot is driven to perform cooperative motion to realize seamless switching of multi-modal motion and improve motion flexibility and stability.

This invention relates to the field of rehabilitation medical device technology, and discloses a lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive. Its key technical features include: a lower limb rehabilitation exoskeleton and a back frame mounted on top of it; the exoskeleton comprises a hip support rod, thigh rods movably connected to the front ends of the hip support rod, and lower leg rods movably connected to the bottom of the thigh rods; foot pedals are movably connected to the bottom of the lower leg rods; rollers are provided at each joint hinge point; pneumatic tendons are fixedly connected to the front and rear sides of the thigh and lower leg rods; the back frame comprises a back frame, air ducts, and pneumatic tendons in the back; control components are fixed to the outer wall of the back frame; the foot pedals adopt a front-to-back split structure, with the spacing adjusted by a locking rod and slot; the pneumatic tendons drive the lower limb joints to swing through cables and rollers, and the front and rear pneumatic tendons deform accordingly during joint rotation, assisting in joint repositioning.