Motion Control of In-Parallel Actuated Mechanisms Driven by Pneumatic Rubber Muscles.

摘要

Because pneumatic rubber muscles are light in weight and flexible, they are expected to be applied to driving elements of mechanical systems such as service robots which often contact with human. In the pneumatic rubber muscle, tensile force/displacement is generated according to applied pressure to it, and the relationship between input pressure and output force/displacement is very nonlinear including hysteresis. Since the muscle generates only tensile force and its motion range is quite limited, their considerations in mechanism design are important. In the present paper, the control method based on the experimentally identified relationships between input and output of mechanial systems proposed by the authors has been applied to the motion control of in-parallel actuated mechanisms with the muscles. The transmission index for in-parallel wire driven mechanisms has been applied to the design of such mechanisms. The effectiveness of these methods has been investigated experimentally.