基于气动人工肌肉的六自由度运动平台

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实现六自由度机构准确、稳定运动控制的关键在于执行元件的控制特性以及动力学模型的准确表达。在分析一般六自由度平台特性的基础上，建立了气动人工肌肉双三角六自由度并联运动平台，运用Matlab进行运动学分析，生成机构运动空间。对所建模型进行运动模拟，根据仿真计算数据得到气动人工肌肉的运动特性，进而提出控制方法。 The motion control of 6-DOF mechanism depends on the proper control characteristics of actuator and the accurate dynamics model. This paper analyzes usual 6-DOF mechanism kinematics character, builds a 6-DOF parallel kinematic platform with pneumatic artificial muscles, and then proposes a solution to build its movementspace via Matlab software. Kinematics simulation is performed, based on the simulation datum is the movement characteristic of pneumatic artificial muscle obtained, then can the control model be set up.