On The Motion Control Of The Shoulder-Joint Of Bionic Robotic Arm Driven By Pneumatic Artificial Muscles

A lot Researches have being carried on the bionics robotic arm widely and deeply as bionics and robotics developing quickly. For bionics robotic arm excels at agility and facility, it is quite popular in medical treatment, serving as well as entertainment filed. Pneumatic artificial muscle can be used as actuators which drive robotic arm directly. Bionics robotic arm with pneumatic artificial muscle is much smaller in weight, cost as well as portable.Based on a fast electric and hydraulic servo device, a multiple degree of freedom robotic arm driven by pneumatic artificial muscles is designed in this thesis to carry laboratorial objects. Better mechanical structure and motion control strategy of robotic arm could be obtained by theoretical and experimental analysis, which could offer guidance for putting this new type of bionics robotic arm into practical use. Several methods to drive robotic arm with pneumatic artificial muscles are presented in this thesis first. With carefully study on advantages and disadvantages of these methods this thesis presents the design scheme of the robotic arm. After that this thesis makes the detailed mechanical structure design and 3D simulation based on key parameters of the fast electric and hydraulic servo device. The pneumatic and control system is also built with high speed on/off solenoid valves and PLC, angle sensor, etc.As the pneumatic and control system is built, this thesis builds the dynamics model. This dynamics model could help to carry a lot theoretic simulation experiments on single joint based on both PID control strategy and Fuzzy-PID control strategy. Besides, this thesis applies Fuzzy-PID control strategy to seriation and simultaneous motion control. Simulation results show that Fuzzy-PID control strategy improves the motion control effect of the bionics shoulder-joint a lot.This thesis does some motion control experiments on the mechanical, pneumatic and control system. Experiment results prove the correctness of mechanical structure design and that the Fuzzy-PID fits the motion control system well.Theoretical analysis and experimental research show that the bionics shoulder-joint meets the original design expectations well. The research work and conclusions acquired in this thesis provide the theoretical and technical basis for the design of the robotic arm driven by pneumatic artificial muscles.