氣動式手臂之設計及氣壓缸動態模型推導

Design of Pneumatic Robotic Arm and Dynamic Model of Pneumatic Cylinder Actuators

10.29548/BGYY.201103.0004

許銘全(Ming-Chiuan Shiu)；陳建銘(Chien-Ming Chen)；劉芳志(Fang-Jr Liou)

氣壓缸 ； 動態模型 ； 氣動式 ； 手臂 ； 復健 ； rehabilitation ； robotic arm ； pneumatic control

修平學報

22期（2011 / 03 / 01）

45 - 61

繁體中文

本文介紹一個以氣壓缸動態模型為基礎之氣動式手臂(Pneumatic Robotic Arm; PRA)，本PRA為一種讓上肢動作不便之患者所使用的輔助器具。由於手對於身體來說是相當重要的部位，假使手失去了原有的功能，對於日常生活是有相當嚴重的影響。因此，設計此款PRA，使手臂可以達到有效的復健功能，即為本文之目的。本文首先建立一個由雙動式單桿氣壓缸和電磁閥所組成的氣動式系統模型，其目的是為了解氣動式驅動器的設計與控制要求。利用該模型我們取得氣壓缸動態模型的方程式表示式。證實氣壓缸用於PRA是可行的，可以取代傳統馬達，減輕其重量。同時，在PRA上安裝壓力感測器來感知患者受到機構帶動時的力量，以提供系統做出最適合患者之動作。將整套系統運用在復健醫學中，透過此PRA引導患者動作，以達到復健之目的。

A robotic arm is developed to act as a part of physical treatment of rehabilitation to restore and maintain functional ability for injured upper extremities. By combination of relay circuit, DSP, the pneumatic cylinders and the electromagnetic valves, the pneumatic controlled robotic arm is proposed in this paper. Via a proper decision of rehabilitation profile of robotic arm, computer program can be compiled first offline. After downloading the profile into DSP, DSP can drive the robotic arm acting as the desired rehabilitation profile by the relay circuit, the pneumatic cylinders and the electromagnetic valves. This paper first develops an exact model of a pneumatic system consisting of a double-acting single-rod pneumatic cylinder and an electromagnetic valve, with the goal of providing an insight into the design and control requirements for pneumatically actuated systems. Use the model to derive the group equations representing the dynamic behavior of the pneumatic cylinder. In addition, the pressure sensors are used to detect the force of patients when the pneumatic robotic arm is action. These pressure sensors can provide the appropriate action for the system. Some basic experiments of rehabilitation poses are demonstrated the performance of the pneumatic robotic arm.

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