尼龙人造肌肉驱动机器人手指的建模与仿真——基于 Simulink 模型的方程组
机器人学
2019-01-29 v1 动力系统
摘要
本文展示了由尼龙人造肌肉驱动的三连杆机器人手指的详细建模，以及可用于机器人手指数值研究的 simulink 模型。该机器人手原型最近在文献 Wu, L., Jung de Andrade, M., Saharan, L., Rome, R., Baughman, R., and Tadesse, Y., 2017, Compact and Low-cost Humanoid Hand Powered by Nylon Artificial Muscles, Bioinspiration & Biomimetics, 12 (2) 中展示。该机器人手为 3D 打印、轻量且紧凑的手，由银涂层尼龙肌肉驱动，常称为扭转 coiled 聚合物（TCP）肌肉。TCP 肌肉是热驱动器，加热时收缩，正受到机器人应用的关注。本文旨在展示基于欧拉-拉格朗日方法推导的建模方程，该方法适用于在 simulink 模型中实现。
引用
@article{arxiv.1901.09486,
title = {Modeling and Simulation of Robotic Finger Powered by Nylon Artificial Muscles- Equations with Simulink model},
author = {Lokesh Saharan and Lianjun Wu and Yonas Tadesse},
journal= {arXiv preprint arXiv:1901.09486},
year = {2019}
}
备注
11 pages, 11 pages, this paper show the modeling equations and it has two figures. Simulation and Experimental results are to be submitted to Journal of Mechanism and Robotics (JMR). The detailed model and equations can be used for numerical simulation of other robotic fingers by utilizing any contractile actuators