1 Introduction
2 Characteristic Analysis of Bionic Flexible Manipulator
2.1 Configuration Analysis
Scapular joint | Glenohumeral joint | ||
---|---|---|---|
Lift | Trapezius, Levator scapulae, Rhomboideus | Flexion | Deltoid, Pectoralis major, Coracobrachialis |
Inhibition | Trapezius, Serratus anterior, Latissimus dorsi | Extension | Deltoid, Latissimus dorsi, Teres major |
Internal rotation | Trapezius, Serratus anterior | Internal rotation | Subscapularis, Deltoid |
External rotation | Levator scapulae, Rhomboideus, Pectoralis minor, Latissimus dorsi | External rotation | Infraspinatus, Teres minor, Deltoid |
Abduction | Serratus anterior, Pectoralis minor | Abduction | Supraspinatus, Deltoid |
Adduction | Trapezius, Rhomboideus, Latissimus dorsi | Adduction | Latissimus dorsi, Pectoralis major |
2.2 Kinematics and Dynamics Analysis
2.3 Joint Trajectory Planning of Serial Mechanism
3 Fuzzy Torque Control of Bionic Flexible Manipulator
3.1 Computed Torque Control of Flexible Manipulator
3.1.1 Computed Torque Controller
3.1.2 Simulation Analysis of Computed Torque
3.2 Fuzzy Torque Control of Bionic Flexible Manipulator
3.2.1 Design of Fuzzy Torque Control System
3.2.2 Design of Fuzzy Controller
E
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3.2.3 Simulation Analysis of Fuzzy Torque
4 Test Analysis of Bionic Flexible Manipulator
4.1 Design of Test Platform
4.2 Results Analysis
Error range | Simulation | Experiment |
---|---|---|
X direction | − 2.513 mm ~ 2.208 mm | − 3.102 mm ~ 2.664 mm |
Y direction | − 3.901 mm ~ 2.800 mm | − 4.693 mm ~ .411 mm |
Z direction | − 2.065 mm ~ 8.438 mm | − 2.034 mm ~ 10.114 mm |