以壓力閥控制雙氣壓人造肌肉致動器應用於下肢二自由度機械臂之研究

Development of a 2-DOF Lower Limb Robotic System Driven by Dual Pneumatic Artificial Muscle Actuators with Pressure Valves

楊雲傑(Yun-Chieh Yang)

指導教授 ： 江茂雄 ； 陳義男

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2017年)

https://doi.org/10.6342/NTU201703716

摘要

隨著醫療技術進步，環境衛生改善，越來越多國家邁向高齡化社會，年長者的醫療與照護成為十分重要的課題，許多研究團隊致力於復建外骨骼系統的開發。外骨骼不僅可以輔助行動不方便的年長者移動，也可以幫助四肢受創的患者或是降低勞力工作者工作時的身體負擔。本文採用氣壓人造肌肉致動器(以下簡稱氣壓肌肉致動器)做為系統的驅動元件，除了氣壓致動器所擁有的輕量、乾淨和方便維護等優點外，並且還有順應性、高功率體積比、高功率重量比等特性，可以保障使用者的安全，適合應用於與人體直接接觸的輔具領域中。
本論文旨在設計與控制由兩對氣壓肌肉致動器組所驅動之二自由度機械臂系統，延續[1]的控制方式，進行下肢復建機器人發展研究。本文首先介紹對氣壓肌肉致動器及其建模方法，再針對人體運動相關知識做簡要討論，然後再介紹實驗的系統平台。由於使用基於模型之串聯結構控制器，我們必須要建立系統的數學模型。氣壓肌肉致動器的出力可以表示成其壓力與收縮率的函數，藉由水平測試平台，來完成氣壓肌肉致動器的建模，並用此建模結果來設計扭矩前饋控制器，再和PID回饋控制器一起結合成力矩控制器。接著，本論文使用反饋線性化方法與LQR控制器，與力矩控制器結合成串聯式結構來控制關節角度。藉由正逆向運動學的計算，達到軌跡控制的效果。

關鍵字

氣壓人造肌肉致動器 ； 氣壓伺服系統 ； 外骨骼 ； 雙自由度機械臂系統 ； 回饋線性化 ； 串聯結構控制器

並列摘要

With many countries become the aging society, medical care of the elders has become a very important issue to be solved. Many research teams were dedicated to developing rehabilitation robotics. The exoskeleton can not only assist the elders with a limited range of motion, but also help humans with impaired limbs. In this thesis, we use pneumatic artificial muscle (PAM) actuators, which has the characteristics such as lightweight, cleanness and easy maintenance, to develop a 2-DOF lower limb robotic system. Furthermore, PAMs offer some desirable advantages of compliance, high power/volume ratio and high power/weight ratios which make them suitable as orthotic appliances.
This study aims to design and control the 2-DOF robotic system driven by two pairs of PAMs for the development of lower limb rehabilitation robots. At first of this thesis, the background knowledge of PAM and its modeling method are introduced, and then we briefly discuss some basic of the human body. Next, the test rig of the robotic system was demonstrated. Due to the use of model-based cascaded controller, we must derive the dynamic model of the system. The force of the PAM can be expressed as a function of pressure and contraction ratio. The feedforward controller is designed according to modeling result and then combine it with feedback PID controller to complete torque control. Moreover, we use feedback linearization and LQR controller, and torque controller combined together to control the joint angles. Finally, through the inverse kinematics, the trajectory control of the 2-DOF lower limb robotic system driven by dual pneumatic artificial muscle actuators with pressure valves can be implemented experimentally.

並列關鍵字

pneumatic artificial mucle actuators ； pneumatic servo system ； exoskeleton ； 2-DOF robotic system ； feedback linearization ； cascaded controller

參考文獻

[1] J.-L. Liang, "Design and Control of a 1-DOF Forearm Robotic System Driven by Pneumatic Artificial Muscle Actuator, Master Thesis," Department of Engineering Science and Ocean Engineering, National Taiwan University, 2013.

[2] G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, "A Survey on applications of Pneumatic Artificial Muscles," in Control & Automation (MED), 2011 19th Mediterranean Conference on, 2011, pp. 1439-1446.

[3] Festo Corporation website. Available: http://www.festo.com

[4] FESTO, Fluidic Muscle DMSP/MAS, 2012.

[5] E. Kelasidi, G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, "A survey on pneumatic muscle actuators modeling," in Industrial Electronics (ISIE), 2011 IEEE International Symposium on, 2011, pp. 1263-1269.