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Modeling of a Dynamic McKibben Style Muscle System Using Material Properties

机译：使用材料特性对动态McKibben型肌肉系统进行建模

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摘要

The McKibben style artificial muscle is a type of pneumatic artificial muscle. When the muscle is pressurized a length contraction and contractive force occur. Modeling a McKibben style muscle presents many challenges. The physical dynamics of the muscle are highly nonlinear, which makes accurate modeling difficult. Modeling using experimentally determined coefficients enables the creation of an equation that ignores the nonlinear nature of the system, but it can have a limited range or accuracy and cannot adjust for changing system properties. Modeling using the system properties requires the consideration of the nonlinear dynamics of the muscle; however, it provides the ability to run numeric simulations before constructing muscles. This thesis focused on dynamic modeling of a two muscle system using system properties.;In order to develop a two muscle dynamic system model, the following steps were taken. Models using physical properties for individual static muscles were examined. Two muscles were linked around a pulley to form a two muscle system with an output of angular displacement and torque. Finally, the effect of valves was added to allow for modeling of transient system response.;In order to validate the model, an experimental system was constructed. The muscle system was simulated using MATLAB and outputs were compared to experimental results. Good agreement between theoretical and experiment results was obtained. A PID controller was then implemented on the new model to demonstrate the feasibility of using the model for control of a two muscle system. The controller was run through an optimization routine to determine the gains which gave the least position error.;This work is the first to provide a dynamic model for a system of two of opposed McKibben style muscles based on the physical properties of the muscle system.
机译：McKibben型人造肌肉是一种气动人造肌肉。当肌肉受压时，会发生长度收缩和收缩力。对McKibben风格的肌肉进行建模提出了许多挑战。肌肉的物理动力学是高度非线性的，因此很难进行精确建模。使用实验确定的系数进行建模可以创建一个忽略系统非线性性质的方程，但是方程可能具有有限的范围或精度，并且无法针对更改的系统属性进行调整。使用系统属性进行建模需要考虑肌肉的非线性动力学。但是，它提供了在构造肌肉之前运行数值模拟的功能。本文着重于利用系统特性对两块肌肉系统进行动态建模。为了建立两块肌肉动态系统模型，采取了以下步骤。检查了使用物理特性的单个静态肌肉的模型。将两个肌肉围绕滑轮连接起来，以形成具有角位移和扭矩输出的两个肌肉系统。最后，增加了阀门的影响，以便对瞬态系统响应进行建模。；为了验证模型，构建了一个实验系统。使用MATLAB对肌肉系统进行了仿真，并将输出与实验结果进行了比较。理论与实验结果吻合良好。然后，在新模型上实现了PID控制器，以证明使用该模型控制两块肌肉系统的可行性。控制器通过优化例程运行，以确定给出最小位置误差的增益。这项工作是首次基于肌肉系统的物理特性为两个相对的McKibben型肌肉系统提供动态模型。

著录项

  • 作者

    Arcus, Alexander G.;

  • 作者单位

    Rochester Institute of Technology.;

  • 授予单位 Rochester Institute of Technology.;
  • 学科 Mechanical engineering.
  • 学位 M.S.
  • 年度 2018
  • 页码 56 p.
  • 总页数 56
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 公共建筑;
  • 关键词

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