A fluidic-muscle driven force-controlled parallel platform for physical simulation of virtual spatial force-displacement laws

作者：Singh Mahendra Dhanu; Liem Kusnadi; Leontjievs Vladimirs; Kecskemethy Andres^*

来源：Meccanica, 2011, 46(1): 171-182.

DOI：10.1007/s11012-010-9407-8

• Fluidic muscle
• Force control
• Parallel platform
• Physical simulator

Described in this paper is a six-legged Stewart-Gough parallel platform driven by a relatively new type of fluidic muscles. The advantage of the platform is that it is virtually free of stick-slip effects. Thus, the device is well-suited for fine-tuned force control and for physical simulation of virtual force-displacement laws. The legs of the platform are of type RRPS and are equipped with a coaxial coil spring and a fluidic muscle providing push and pull forces. Each leg is equipped with a force sensor, a pressure sensor, and a magnetostrictive position encoder. The control for the platform consists of six control loops for the six operated actuators with model-based force control comprising individual gas models as well as the rubber nonlinearities for each leg. The control law also includes the gas flow in the proportional directional control valve in 3/3-way function. The present paper describes the basic architecture of the platform, the dynamic models, as well as testbed results for the existing fluidic-muscle parallel platform DynaHex. It is shown that the presented control scheme leads to a stable force control of the platform for quasi-static motion. As an application, the device will be employed in fields of biomechanics, as well as in general environments requiring physical simulation.

• 出版日期2011-2