中国机械工程学报(英文版)论文模板

('CHINESEJOURNALOFMECHANICALENGINEERINGVol.27,aNo.4,a2014DOI:10.3901/CJME.2014.0320.001,availableonlineatwww.springerlink.com;www.cjmenet.com;www.cjmenet.com.cnNovel6-DOFWearableExoskeletonArmwithPneumaticForce-FeedbackforBilateralTeleoperationZHANGJiafan1,3,,FUHailun2,DONGYiming1,ZHANGYu1,YANGCanjun1,andCHENYing11StateKeyLaboratoryofFluidPowerTransmissionandControl,ZhejiangUniversity,Hangzhou310027,China2ZhejiangProvinceInstituteofMetrology,Hangzhou310027,China3NationalDie&MoldCADEngineeringResearchCenter,ShanghaiJiaoTongUniversity,Shanghai200030,ChinaReceivedMarch1,2014;revisedJune17,2014;acceptedAugust17,2014Abstract:Magneticdrivepumphasgottengreatachievementandhasbeenwidelyusedinsomespecialfields.Currently,theresearchesonmagneticdrivepumphavefocusedonhydraulicdesign,bearing,axialforceinChina,andanewmagneticdrivepumpwithlowflowandhighheadhavebeendevelopedoverseas.However,lowefficiencyandlargesizearethecommondisadvantagesforthemagneticdrivepump.Inordertostudytheperformanceofhigh-speedmagneticdrivepump,FLUENTisusedtosimulatetheinnerflowfieldofmagneticdrivepumpswithdifferentrotatespeeds,andgetvelocityandpressuredistributionsofinnerflowfield.Accordingtoanalysisthechangesofvelocityandpressuretoensurethestableoperationofpumpandavoidcavitation.Basedontheanalysisofvelocityandpressure,thispaperpresentsthepumpefficiencyofmagneticdrivepumpswithdifferentrotatedspeedsbycalculatingthepowerlossinimpellerandvolute,hydraulicloss,volumetricloss,mechanicallossanddiscussingthedifferentreasonsofpowerlossbetweenthemagneticdrivepumpswithdifferentrotatedspeeds.Inaddition,themagneticdrivepumpsaretestedinaclosedtestingsystem.Pressuresensorsaresetininletandoutletofmagneticdrivepumpstogetthepressureandthehead,whilethepumpefficiencycanbegotbycalculatingthepowerlossbetweentheinputpowerandtheoutletpower.Theresultsofsimulationandtestaresimilar,whichshowsthatthemethodofsimulationisfeasible.Theproposedresearchprovidestheinstructiontodesignhigh-speedmagneticdrivepump.Keywords:exoskeletonarm,teleoperation,pneumaticforce-feedback,hybridfuzzycontrol1Introduction\uf02aAtfirstlookatmodernsociety,moreandmorerobotsandautomateddevicesarecomingintoourlifeandserveforhuman.Butonevenfurtherinspection,onecanfindthatmechatronicdevicesreplacehumansubordinatelyonlyatlowerlevels,essentiallyprovidingthe“grunt”toperformroutinetasks.Humancontrolisstillnecessaryatallhigherlevelsjustasthetermhumansupervisorycontrol(HSC),whichiscoinedbySHERIDAN[1].Themodernmaster-slaveteleoperationsystemforthesafemanipulationofradioactivematerialsinacontaminatedareain1954ofGOERTZ,etal[2],wasthetypicalexampleofthisconcept.Hereafter,exoskeletonarmswithforce-feedbackhavebeenwidelydevelopedinthefieldsofrobotteleoperationandhapticinterfacetoenhancetheperformanceofthehumanoperator,alsointheexcitingapplicationsinsurgeryplanning,personneltraining,andphysicalrehabilitation.DUBEY,etal[3],developedamethodologytoincorporatesensorandmodelbasedcomputerassistanceintohumancontrolledteleoperationsystems.Intheirapproach,thehumanoperatorwasretainedatallphasesoftheoperation,andwasassistedbyadjustingsystemparameterswhichwerenotunderdirectcontrolbytheoperator,specifically,themappingofpositionsandvelocitiesbetweenthemasterandslaveandtheirimpedanceparameters.TheESAhumanarmexoskele-tonwasdevelopedtoenableforce-feedbacktele-manipulationontheexterioroftheinternationalspacestationwithredundantroboticarms[4].Inrecentwork[5–6],theneuromuscularsignalhasbeenusedtocontroltheexoskeletonarmandmanynewconceptswereappliedintherehabilitation[7–10].SeveralresearchersfromKorea\uf02aCorrespondingauthor.E-mail:caffeezhang@hotmail.comSupportedbyNationalNaturalScienceFoundationofChina(GrantNo.50305035),NationalHi-techResearchandDevelopmentProgramofChina(863Program,GrantNo.##),BeijingMunicipalNaturalScienceFoundationofChina((GrantNo.##),andZhejiangProvincialNaturalScienceFoundationofChina((GrantNo.##)©ChineseMechanicalEngineeringSocietyandSpringer-VerlagBerlinHeidelberg2014·1·菜单栏“格式”中的“段落”，其中“缩进和间距”标签的复选框“如果定义了文档网络，则自动调整右缩进（D）”和“如果定义了文档网络，则对齐网格（W）”不要勾选字号8磅，段后回车换行2次论文题目字号14磅，行距固定值16磅，段后回车换行2次字号11磅，段后8磅字号10磅，斜体，段后回车换行1次字号8磅，段后回车换行1次字号9磅，段后回车换行1次字号9磅，段后回车换行2次一级标题字号12磅，段前空1行，段后回车换行1次字号8磅，单倍行距首页上行页眉字号10.5磅，单倍行距，段后1.2磅下行页眉字号9磅，单倍行距，段后1.2磅正文字号为10磅，除特别标注外，行距均为固定值13磅，行首缩进0.35cm；含有上下标或较复杂数学式的段落为多倍行距，设置值为1.1~1.2YZHANGJiafan,etal:Novel6-DOFWearableExoskeletonArmwithPneumaticForce-FeedbackforBilateralTeleoperationInstitutionofScienceandTechnology(KIST)introducedthepneumaticactuatorintotheexoskeletonanddesignedanovelmanipulatorwiththe3RPSparallelmechanism[11–12].Theyexploredanewexoskeleton-typemasterarm,inwhichtheelectricbrakeswiththetorquesensorbeamswereusedforforcereflection[14].Likewise,theauthorsgaveouta2-portnetworkmodeltodescribethebilateralremotemanipulationintheviewofthecontroltheory[15–17].Inthisresearch,awearableexoskeletonarm,ZJUESA,basedonman-machinesystemisdesignedandahierarchicallydistributedteleoperationcontrolsystemisexplained.Thissystemincludesthreemainlevels:①supervisorgivingthecommandthroughtheexoskeletonarminsafezonewiththeoperatorinterface;②slave-robotworkinginhazardouszone;③datatransmissionbetweensupervisor-masterandmaster-slavethroughtheInternetorEthernet.Insection2,byusingtheorthogonalexperimentdesignmethod,thedesignfoundationofZJUESAanditsoptimaldesignarepresented.Theninsection3,wedescribeanovelhybridfuzzycontrolsystemfortheforcefeedbackonZJUESA.Consequently,theforcefeedbackcontrolsimulationsandexperimentresultsanalysisarepresentedinsection4,followedbydiscussionsandconclusions.2ConfigurationoftheExoskeletonArmSystemThemaster-slavecontroliswidelyemployedintherobotmanipulation.Inmostcases,thejoystickorthekeyboardistheroutineinputdevicefortherobotmaster-slavecontrolsystem.ThesystempresentedinthispaperisshowninFig.1.Fig.1.ConfigurationoftheexoskeletonarmsystemInthesystemtheexoskeletonarm—ZJUESAreplacesthejoystickasthecommandgenerator.Itisanexternalstructuremechanism,whichcanbewornbytheoperator,andcantransferthemotionsofhumanupperarmtotheslavemanipulatorposition-control-commandsthroughtheInternetorEthernetbetweenthemasterandslavecomputers.Withthisinformation,theslavemanipulatormimicsthemotionoftheoperator.Atthesametime,theforce-feedbacksignals,detectedbythe6-axisforce/torquesensorontheslaverobotarmendeffector,aresentbacktoindicatethepneumaticactuatorsfortheforce-feedbackonZJUESAtorealizethebilateralteleoperation.SinceZJUESAisdesignedbyfollowingthephysiologicalparametersofthehumanupper-limb,withsuchadevicethehumanoperatorcancontrolthemanipulatormorecomfortablyandintuitivelythanthesystemwiththejoystickorthekeyboardinput.3DesignoftheExoskeletonArmWhatwedesireisanarmexoskeletonwhichiscapableoffollowingmotionsofthehumanupper-limbaccuratelyandsupplyingthehumanupper-limbwithproperforcefeedbackifneeded.Inordertoachieveanidealcontrollingperformance,wehavetoexaminethestructureofthehumanupper-limb.3.1Anatomyofhumanupper-limb3.1.1Upper-limbRecently,variousmodelsofthehumanupper-limbanatomyhavebeenderived.Thebiomechanicalmodelsofthearmthatstandforpreciseanatomicalmodelsincludingmuscles,tendonsandbonesaretoocomplextobeutilizedinmechanicaldesignofananthropomorphicrobotarm.Fromtheviewofthemechanism,weshouldsetupamorepracticablemodelforeasyandeffectiverealization.Fig.2introducestheconfigurationofhumanupper-limbanditsequivalentmechanicalmodel,whichisa7-DOFstructure,including3degreesoffreedomforshoulder(flexion/extension,abduction/adductionandrotation),1degreeoffreedomforelbow(flexion/extension)and3degreesoffreedomforwrist(flexion/extension,abduction/adductionandrotation)[18].ThedetailsaboutthemotioncharacteristicsoftheseskeletaljointscanbeobtainedinRefs.[18-20].Comparedtothemechanicalmodel,theshoulderandwristcanbeconsideredassphericaljointsandtheelbowasarevolutionjoint.Itisagoodapproximatemodelforthehumanarm,andthebaseforthedesignandconstructionofexoskeletonarm-ZJUESA.·2·图题字号9磅，行距固定值11磅，段前0.3行，段后回车换行1次；图中字号8磅二级标题字号10磅图前段落，段后回车换行1次双码页面页眉字号8磅，单倍行距，段后1.2磅三级标题字号10磅，斜体，段前0.5行字号6.5磅，单倍行距二级标题字号10磅图片及表格要求：图表类型分辨率灰度<150>225彩色<150>225位图<600>900CHINESEJOURNALOFMECHANICALENGINEERINGFig.2.Configurationofhumanupperlimbanditsequivalentmechanicalmodel3.2MechanismoftheexoskeletonarmBecausethegoalofthisdeviceistofollowmotionsofthehumanarmaccuratelyforteleoperation,ZJUESAoughttomakethebestofmotionscopeofthehumanupper-limbandlimititaslittleaspossible.Aflexiblestructurewiththesameorsimilarconfigurationofhumanupper-limbisanidealchoice.Basedontheanatomyofhumanupper-limb,thejointmotionoriginatesfromextensionorflexionofthemuscleandligamentwitheachothertogeneratetorquearoundthebones.Comparedwiththeserialmechanism,themovementsoftheparallelmechanismaredrivenbytheprismatics,whichactanalogicallytothehumanmusclesandligament.Besides,usingtheparallelmechanismnotonlyrealizesthemulti-DOFjointforacompactstructureandligament.Besides,usingtheparallelmechanismnotonlyrealizesthemulti-DOFjointforacompactstructureofhumanupper-limb.The3RPSparallelmechanismisoneofthesimplestmechanisms.Fig.3explainstheprincipleofthe3RPSparallelmechanism.KIM,etal[11],introduceditintotheKISTdesign.Herewefollowthisconcept.Thetworevolutiondegreesoffreedomembodiedinthe3RPSareforflexion/extension,abduction/adductionatshoulder.ItsthirdtranslationdegreeoffreedomalongzaxiscanbeusedforthedimensionadjustmentofZJUESAfordifferentoperators.Theprismaticjointsareembodiedbypneumaticactuators,whicharedeployedtosupplyforcereflectivecapability.Alsodisplacementsensorsarelocatedalongwiththepneumaticactuatorsandthering-shapedjointstomeasuretheirlinearandangulardisplacements.Atelbow,acrank-slidemechanismcomposedofacylinderandlinksisutilizedforflexion/extension.Atwrist,sincetheabduction/adductionmovementissolimitedandcanbeindirectlyreachedbycombinationoftheotherjoints,wesimplifytheconfigurationbyignoringtheeffectofthismovement.AsshowninFig.4,theadditionalringisthesameasthatatshoulderfortheelbowrotation.Thusourexoskeletonarm-ZJUESAhas6degreesoffreedomtotally.Fig.3.3RPSparallelmechanismFig.4.Prototypeoftheexoskeletonarm-ZJUESA3.3OptimizationdesignofZJUESAAsnentionedabove,thebestdesignistomaketheworkspaceofZJUESAasfullycoverthescopeofthehumanupper-limbmotionaspossible.Weemploythe3RPSparallelmechanismfortheshoulder,whoseworkspacemainlyinfluencestheworkspaceofZJUESA.Theoptimaldesignof3RPSparallelmechanismfortheshoulderisthekeypointofZJUESAoptimaldesign.However,itisadesigningproblemwithmulti-factors,sayingthedisplacementoftheprismatics(factorA),circumradiusratiooftheupperandlowerplatforms(factorB),initiallengthoftheprismatics(factorC),andtheircouplingparameters(factorAB,ACandBC)(Table1)andmulti-targets,namely,itsworkspace,weight,size.So,weusetheorthogonalexperimentdesignmethodwithforegoing6keyfactors[21]andEq.(1)givestheexpressionoftheoptimaltargetfunctionofthisproblem:,(1)whereL0istheinitiallengthoftheprismatics,Risthecircumradiusofthelowerbasein3RPSmechanism,risthecircumradiusoftheupperbasein3RPSmechanism,istheexpectedreachableanglearoundaxis,andisthereachableanglearoundaxis.Table1.FactorsandtheirlevelsmmLevelrankABCABACBC·3·图题后遇标题时，段后回车换行2次另行排的数学式必须居中，单倍行距，段后回车换行1次表题字号9磅，字体加粗，段后0.3行数学式前段落，段后回车换行1次表前段落，段后回车换行1次单码页面页眉字号10.5磅，单倍行距，段后1.2磅页码文字周围的图文框宽1.1cm，高0.4cm，相对于“页面”水平距离18cm，相对于“段落”垂直距离0.4cm图序与图题间空两格Table后空一格，表序与表题间空两格缩写点后空一格页码文字周围的图文框宽1.1cm，高0.4cm，相对于“页面”水平距离18cm，相对于“段落”垂直距离0.4cm另行排的数学式必须居中，单倍行距，段后回车换行1次YZHANGJiafan,etal:Novel6-DOFWearableExoskeletonArmwithPneumaticForce-FeedbackforBilateralTeleoperation1600.5150－－－2800.438160－－－31000.389170－－－4－－180－－－Theorthogonalexperimentdesignisoutlinedbecauseoftheeasewithwhichlevelscanbeallocatedanditsefficiency.TheconceptoforthogonalexperimentdesignisdiscussedinRef.[21]toobtainparametersoptimization,findingthesettingforeachofanumberofinputparametersthatoptimizestheoutput(s)ofthedesign.Orthogonalexperimentdesignallowsadecreaseinthenumberofexperimentsperformedwithonlyslightlylessaccuracythanfullfactortesting.Theorthogonalexperimentdesignconceptcanbeusedforanycomplicatedsystembeinginvestigated,regardlessofthenatureofthesystem.Duringtheoptimization,allvariables,evencontinuousones,arethoughtofdiscrete“levels”.Inanorthogonalexperimentdesign,thelevelsofeachfactorsareallocatedbyusinganorthogonalarray[22].Bydiscretizingvariablesinthisway,adesignofexperimentsisadvantageousinthatitcanreducethenumberofcombinationsandisresistanttonoiseandconclusionsvalidovertheentireregionspannedbythecontrolfactorsandtheirsetting.Table2describesanorthogonalexperimentdesignarrayfor6keyfactors[23].InthisarraythefirstcolumnimpliesthenumberoftheexperimentsandfactorsA,B,C,AB,ABandBCarearbitrarilyassignedtocolumnsrespectively.FromTable2,36trialsofexperimentsareneeded,withthelevelofeachfactorforeachtrial-runindicatedinthearray.Theelementsrepresentthelevelsofeachfactors.Theverticalcolumnsrepresenttheexperimentalfactorstobestudiedusingthatarray.Eachofthecolumnscontainsseveralassignmentsateachlevelforthecorrespondingfactors.Thelevelsofthelatterthreefactorsaredependentonthoseoftheformerthreefactors.TheelementsofthecolumnIV,namelyfactorAB,aredeterminedbytheelementsinthecolumnsI,II,andelementsofcolumnV,factorAC,hastherelationshipwiththeelementsofcolumnsI,III,andthecolumnVI,factorBC,liesonthecolumnsII,III.Table2.OrthogonalexperimentdesignarrayL36for6keyfactorsExperimentNo.ABCABACBCResultQ1111111Y12112122Y23113133Y34114144Y45121215Y56122226Y6MMMMMMMM33331999Y333433291010Y343533391111Y353633491212Y36TherelationbetweencolumnIVandcolumnsI,IIisthat:iflevelofAisnandlevelofBism,thelevelofABis3(n–1)+m,wheren=1,2,3andm=1,2,3.Allthecasescanbeexpressedasfollows:(1,1)1(1,2)2(1,3)3;(2,1)4(2,2)5(2,3)6;(3,1)7(3,2)8(3,3)9.ThefirstelementinthebracketrepresentsthecorrespondingleveloffactorAinTable1andthelattermeansthecorrespondinglevelofthefactorB.FactorABhastotally9levels,asfactorAandfactorBhave3levels,respectively.Likewise,therelationbetweencolumnVandcolumnsI,IIIis(1,1)1(1,2)2(1,3)3(1,4)4;(2,1)5(2,2)6(2,3)7(2,4)8;(3,1)9(3,2)10(3,3)11(3,4)12.AlsotherelationbetweencolumnVIandcolumnsII,IIIis(1,1)1(1,2)2(1,3)3(1,4)4;(2,1)5(2,2)6(2,3)7(2,4)8;(3,1)9(3,2)10(3,3)11(3,4)12.Theoptimaldesigniscarriedoutaccordingtothefirstthreecolumns:(2),(3)wherei=A,B,C,AB,AC,BC;jisthenumberofirank.ByEqs.(2),(3)andthekinematicscalculationofthe3RPSparallelmechanism[24–35],therelationshipbetweenthetargetQandeachfactorcanbeobtained,asshowninFig.5.·4·表中字号8磅，行距固定值11磅，段后回车换行1次双数页码周围的图文框，相对于“页面”水平距离1.8cm缩写点与后续文字间空一格CHINESEJOURNALOFMECHANICALENGINEERINGFig.5.RelationbetweenlevelsoffactorsandQAccordingtotheplotsinFig.5,wecangetthesuperiorityandthedegreeoftheinfluence(sensitivity)ofeachdesignfactor.ThefactorwithbiggerextremedifferenceKi,asexpressedinEq.(3)hasmoreinfluenceonQ.Inthiscase,itcanbeconcludedthatthesensitivityofthefactorsABandACarehighandfactorsBCandChaveweakinfluence,sinceKABandKACaremuchbiggerthanKBCandKC.AndthesetA3B1,A2C1,A2,B1,C1,B1C1arethebestcombinationofeachfactorlevels.Butthereisaconflictwithformer3itemsinsuchaset.AstheirKihavelittledifferencesbetweeneachother,themiddlecourseischosen.Aftercompromising,wetakethelevel2offactorA,thelevel1offactorBandthelevel1offactorC,namelyd＝80mm,r/R＝0.5,L0＝150mm[32].Itisinterestingtoknowhowgoodtheresultsderivedfromtheabove36trialsare,whencomparedwithallotherpossiblecombinations.Becauseofitsmutualbalanceoforthogonalarrays,thisperformanceratiocanbeguaranteedbythetheoreminnon-parametricstatistics[13].Itpredictsthatthisoptimizationisbetterthan97.29%ofalternatives.Combinedwiththekinematicsanddynamicssimulationofthe3RPSparallelmechanismandZJUESAwithchosendesignparametersbyADAMS,weperformtheoptimaldesign.Table3indicatesthejointrangeandjointtorqueofeachjointonZJUESA.ItisapparentthatZJUESAcanalmostcovertheworkspaceofhumanupper-limbwellsothatitcanfollowthemotionofhumanoperationupper-limbwithlittleconstrain,asshowninFig.6.Table3.JointrangesandjointtorquesforeachjointonZJUESAJointonZJUESAJointrangeθ/(°)JointtorqueT/(N·m)Jointdensityρm/(kg·m–3)Flexion/extension(shoulder)－60-6036-Abduction/adduction－50-6036-Rotation(shoulder)－20-9018-Flexion/extension(elbow)0-9028-Rotation(wrist)－20-9013-Flexion/extension(wrist)0-6028-Abduction/adduction(wrist)\ue83a\ue83a-Fig.6.Motionofexoskeletonarmfollowingtheoperator4HybridFuzzy-ControllerfortheForceFeedbackOnZjuesaInmaster-slavemanipulation,besidesthevisualfeedbackandman-machinesoftinterface,theforcefeedbackisanothergoodchoicetoenhancethecontrolperformance.Iftheslavefaithfullyreproducesthemastermotionsandthemasteraccuratelyfeelstheslaveforces,theoperatorcanexperiencethesameinteractionwiththeteleoperatedtasks,aswouldtheslave.Inthiswaytheteleoperationbecomesmoreintuitive.InourbilateralteleoperationsystemwithZJUESA,a6axisforce/torquesensorismountedontheendeffectoroftheslavemanipulatoranddetectstheforceandtorqueactingontheendeffectorduringperformingthework.Thisinformationistransferredtothemastersiteinrealtime.Withdynamiccalculation,thereferencesofthegeneratingforceonactuatorsofZJUESAareobtained.Hereafter,thefeelingcanbereproducedbymeansofthepneumaticsystem.Eq.(4)expressestherelationbetweentheforceandtorqueontheendeffectorandthetorquesgeneratingonthejoints:,(4)whereF—Forceandtorqueontheendeffector,,τ—Torqueoneachjoint,,J—JacobianmatrixofZJUESA.·5·数学式下方的解释语及其他数学式，各行间单倍行距量名称与量符号间空一格YZHANGJiafan,etal:Novel6-DOFWearableExoskeletonArmwithPneumaticForce-FeedbackforBilateralTeleoperationBydividingtheforcearm,itiseasytogettothegeneratingforceonthejoints,suchasshoulderring,elbow,wristringandwrist,asexplainedbyEq.(5):,(5)whereai(i=3,4,5,6)istheforcearmoftheshoulderring,elbow,elbowringandwristjoints,respectively.Asforthegeneratingforceoftheprismaticsonthe3RPSparallelmechanism,itcanbecalculatedasfollows[35]:,(6)where—Jacobianmatrixof3RPSparallelmechanism,—Torqueson3RPSparallelmechanism,,f3RPS—Forceon3RPSparallelmechanism.Therefore,withEqs.(5),(6),thetotalsevenforcereferencesareobtainedforthepneumaticsystemonZJUESA.Fig.7explainstheschemeofthepneumaticcylinder-valvesystemfortheforcefeedback.Therefore,withEqs.(5),(6),thetotalsevenforcereferencesareobtainedforthepneumaticsystemonZJUESA.Fig.7explainstheschemeofthepneumaticcylinder-valvesystemfortheforcefeedback.Therefore,withEqs.(5),(6),thetotalsevenforcereferencesareobtainedforthepneumaticsystemonZJUESA.Fig.7explainstheschemeofthepneumaticcylinder-valvesystemfortheforcefeedback.Therefore,withEqs.(5),(6),thetotalsevenforcereferencesareobtainedforthepneumaticsystemonZJUESA.Fig.7explainstheschemeofthepneumaticcylinder-valvesystemfortheforcefeedback.Therefore,withEqs.(5),(6),thetotalsevenforcereferencesareobtainedforthepneumaticsystemonZJUESA.Fig.7explainstheschemeofthepneumaticcylinder-valvesystemfortheforcefeedback.Therefore,withEqs.(5),(6),thetotalsevenforcereferencesareobtainedforthepneumaticsystemonZJUESA.Fig.7.Schemeofthepneumaticcylinder-valvesystemp1,v1,a1—Pressure,volumeandsectionareaofcylinderchamber1p2,v2,a2—Pressure,volumeandsectionareaofcylinderchamber2mp—Massofthepistonar—SectionareaofrodmL—MassofloadThehigh-speedon-offvalves,workingasthecommandcomponentsinthesystem,arecontrolledbythepulsewidthmodification(PWM)signalsfromthecontrolunits,respectively.Ratherthantheproportionalorservovalve,thisisaninexpensiveandwidelyusedmethodintheapplicationofpositionandforcecontrolinthepneumaticsystem[23–28].Tosimplifythecontrolalgorithm,thereisjustonevalveonworkatanymoment.Forinstance,whenaleftwardforceiswanted,thevalveV1worksandvalveV2isoutofwork.Underthiscase,wecancontrolthepressurep1inchamber1bymodifyingthePWMsignals.Chamber2connectstotheatmosphereatthattimeandthepressurep2insidethechamber2ofcylinderisabsolutelyambientpressure,andviceversa.Ateachportofthecylinder,thereisapressuresensortodetectthepressurevalueinsidethechamberfortheclose-loopcontrol.Andthethrottlevalvesareequippedforlimitingtheflowoutofthechambertoreducepistonvibrations.Inourpreviouswork,wegaveoutthespecificmathematicmodelsofthesystem,includingpneumaticcylinder,high-speedon-offvalveandconnectingtube[33].However,thepneumaticsystemisnotusuallyawelllinearcontrolsystem,becauseoftheaircompressibilityanditseffectontheflowline.Alsothehighlynonlinearflowbringstroublesintothecontrol.Theconventionalcontrollersareoftendevelopedviasimplemodelsoftheplantbehaviorthatsatisfythenecessaryassumptions,viathespeciallytuningofrelativelysimplelinearornonlinearcontrollers.Asaresult,forpressureorforcecontrolinsuchanonlinearsystem,especiallyinwhichthechamberpressurevibratesrapidly,theconventionalcontrolmethod·6·当图题后面有注释时，图题前、后各0.3行注释文字字号8磅，单倍行距，最后一行段后回车换行1次CHINESEJOURNALOFMECHANICALENGINEERINGcanhardlyhaveagoodperformance.Fortunately,theintroductionofthehybridcontrolmethodmentioned,givesoutasolutiontothisproblem.Butthetraditionaldesignofthehybridcontrollerisalwayscomplicatedandonlyavailabletotheproportionorservovalvesystem.Inoursystem,wefiguredoutakindofnovelhybridfuzzycontrolstrategyforthehigh-speedon-offvalves,whichismuchsimplerandcanberealizedbymicrocontrolunits(MCUs)inthecontributedarchitecture.Thisstrategyiscomposedoftwomainparts:afuzzycontrollerandabang-bangcontroller.Thefuzzycontrollerprovidesaformalmethodologyforrepresenting,manipulating,andimplementingaperson’sheuristicknowledgeabouthowtocontrolasystem.Itcanberegardedasanartificialdecisionmakerthatoperatesinaclosed-loopsysteminrealtimeandcanhelpthesystemtogetthecontrolinformationeitherfromahumandecisionmakerwhoperformsthecontroltaskorbyself-study,whilethebang-bangcontrollerisaddedtodrivetheresponseofthesystemmuchmorequickly.Fig.8showstheconceptoftheproposedhybridfuzzycontroller.Theconceptofmultimodeswitchingisappliedtoactivateeitherthebang-bangcontrollerorthefuzzycontrollermode.Fig.8.ConceptofthehybridfuzzycontrollerBang-bangcontrolisappliedwhentheactualoutputisfarawayfromreferencevalue.Inthismode,fasttrackingoftheoutputisimplemented.Thefuzzycontrollerisactivatedwhentheoutputisnearthesetpoint,whichneedsaccuracycontrol.Inthefuzzy-controlmode,weusepressureerroranditschangeastheinputvariablesonwhichtomakedecisions.Ontheotherhand,thewidthofthehighvoltageinonePWMperiodisdenotedastheoutputofthecontroller.Asmentionedabove,thePConmastersiteworksasthesupervisorforreal-timedisplaying,kinematicscalculationandexchangesthecontroldatawiththeslavecomputerandsoon.ForthesakeofreducingtheburdenofthemasterPC,thedistributedcontrolsystemisintroduced.EachcontrolunitcontainsaMega8MCUofATMELInc.,workingasahybridfuzzy-controllerforeachcylinderrespectively,andformsapressureclosed-loopcontrol.Thecontrollersamplesthepressureinchamberwith20kHzsamplingratebythein-builtanalog-digitalconverters.ThesecontrollerskeepincontactorgetthedifferentialpressuresignalsfromthemasterPCthroughRS232,asdepictedinFig.9.Inthismode,fasttrackingoftheoutputisimplemented.Fig.9.Distributedcontrolsystemofthemasterarm5ForceFeedbackExperimentsFig.10givesoutthesetupoftheforcefeedbackexperiments.Thesystemincludesthesoftinterface,dataacquisition,Mega8MCUexperimentboard,on-offvalves,sensorsofdisplacementandpressure,andtheoscilloscope.WechosethecylinderDSNU-10-40-PproducedbyFESTOInc.ThesoftsignalgeneratoranddataacquisitionarebothdesignedintheLabVIEW,withwhichusersmaytakeadvantageofitspowerfulgraphicalprogrammingcapability.Comparedwithotherconventionalprogrammingenvironments,themostobviousdifferenceisthatLabVIEWisagraphicalcompilerthatusesiconsinsteadoflinesoftext.Additionally,LabVIEWhasalargesetofbuilt-inmathematicalfunctionsandgraphicaldatavisualizationanddatainputobjectstypicallyfoundindataacquisitionandanalysisapplications.Fig.10.Set-upofforcefeedbackexperiment·7·YZHANGJiafan,etal:Novel6-DOFWearableExoskeletonArmwithPneumaticForce-FeedbackforBilateralTeleoperationTheplotsinFig.11giveoutexperimentalresultsofthechamberpressureoutputswithstepinputsignalsononejoint.Whileatfrequencieshigherthan80Hz,forceissensedthroughtheoperator’sjoint,muscleandtendonreceptors,andtheoperatorisunabletorespondto,andlowamplitudedisturbancesatthesefrequencies.Weremovereflectedforcesignalsabove80HzbandbyfastFouriertransfer(FFT)andgetthesmoothedcurveintheplots.Oneisobtainedbyusinghybridcontrolstrategyandanotherisobtainedbyusingtraditionalfuzzycontrollerwithoutbang-bangcontroller.Althoughthesetwocurvesbothtrackthereferencewellwithverygoodamplitudematch(lessthan5%error)andafewmillisecondsmisalignmentinthetimeprofile,bycomparingthesetwocurves,itcanbefoundthattheadjusttimeofthecurvewithhybridcontrolstrategyislessthan0.03s,whichismuchlessthan0.05sofotherwithtraditionalfuzzycontroller.Itproveseffectofthehybridcontrolstrategy.Fig.11.ExperimentalresultswithastepsignalFig.12showstheresultsoftrackingasinusoidalcommander.Thisexperiment…upto5Hzfrequencysinusoidalcommandwell.Fig.12.ExperimentresultsforsinusoidalpressurecommandsAfterthen,anothertwoexperimentsarecarriedouttorealizethebilateralteleoperationwithsimplemotion,inwhichtheslavemanipulatoriscontrolledfortheshoulderabduction/adduction(themovementofaboneaway/towardthemidlineinthefrontalplane)andextension/flexionofelbow(themovementinthesagittalplane)bytheteleoperationwithZJUESA.Inthefirstexperiment,theoperatorperformstheshoulderabduction/adductionmovementwithZJUESA,whentheslaverobotfollowsandholdsuptheload.WiththeforcefeedbackonZJUESA,theoperatorhasfeelingasifheholdstheloaddirectlywithoutthemechanicalstructure,asshowninFig.13.PlotsinFigs.14,15showthetorqueandforceoneachjointonZJUESAduringtheshoulderabduction/adductionmovementfrom45°to90°(inthefrontalplane)with5kgload.Therearesomeremarks.InplotsofFig.14shoulder3RPS-xmeansthetorquearoundx-axisof3RPSmechanismatshoulderandthesametoshoulder3RPS-y.Shoulderring,elbow,wristringandwristrepresentthetorquesonthesejoints,respectively.Thecharactersshoulder3RPS-1,shoulder3RPS-2andshoulder3RPS-3inFig.15representcorrespondingforceonthecylinderson3RPSparallelmechanism(referringtoFig.3)withlengthL1,L2andL3,respectively.Fig.13.Shoulderabduction/adductionteleoperationFig.14.Torquesonthejointsoftheshoulder·8·CHINESEJOURNALOFMECHANICALENGINEERINGabduction/adductionfor5kgloadliftingFig.15.Forcefeedbackonthecylindersoftheshoulderabduction/adductionfor5kgloadliftingTheoperatorteleoperatestheslavemanipulatorwithforcefeedbackasifheperformsforliftingadumbbellorraisingpackageindailylife(Fig.16).Fig.17showsthemomentoneachjointduringtheprocessforproducingthefeelingofliftinga10kgdumbbell.Fig.18depictstheforceoutputofeverypneumaticcylinderonZJUESA.Fig.16.Extension/flexionforelbowteleoperationFig.17.Torquesonthejointsoftheelbowextension/flexionfor10kgloadliftingAlltheseresultsofexperimentsdemonstratetheeffectofZJUESAsystem.ZJUESAperformswellbyfollowingthemotionsofhumanupper-limbwithlittleconstrainandthepneumaticforcefeedbacksystemsuppliesaproperforcefeedbacktrackingthereferencewell.Fig.18Forcefeedbackonthepneumaticcylindersoftheelbowextension/flexionfor10kgloadlifting6Conclusions(1)Accordingtotheanatomyofhumanupper-limb,thestructureofZJUESAispresented,whichhas6DOFstotally.3RPSparallelmechanismanalogytothemotionofmuscleandligamentofhumanjointisemployedtorealizetheshoulderstructurewith3degreesoffreedom.(2)Theorthogonalexperimentdesignmethodisemployedfortheoptimaldesign.AsaresultalargerworkspaceofZJUESAisobtained.(3)Intheinterestofmuchmoreintuitivefeelingsinmaster-slavecontrolprocess,theforcefeedbackisrealizedsimultaneouslyonZJUESAbythepneumaticcylinders.Andanovelhybridfuzzy-controllerisintroducedintheMega8MCUasaunitofthedistributedcontrolsystemduetothenon-linearityofthepneumaticsystem.Thebang-bangcontrolisutilizedtodrivetheresponseofthesystemmuchmorequicklyandthefuzzycontrollerisactivatedwhentheoutputisnearthesetpoint,whichneedsaccuratecontrol.(4)Withsetsofexperiments,step,slopeandsinusoidalcommandsaretakenandthesystemshowsagoodperformance,andagoodagreementisfoundbetweenthereferencecurvesandexperimentalcurvesaswell.(5)Theexperimentsofshoulderabduction/adductionandelbowextension/flexionteleoperationwithforcefeedbackareimplemented.TheresultsverifythefeasibilityofZJUESAmaster-slavecontrolsystemandtheeffectofthehybridfuzzy-controllerforthepneumaticsystem.References[1]SHERIDANTB.Automation,andhumansupervisorycontrol-telerobotics[M].CambridgeMA:TheMITPress,1992.·9·字号10磅内容字号8磅，行距固定值11磅YZHANGJiafan,etal:Novel6-DOFWearableExoskeletonArmwithPneumaticForce-FeedbackforBilateralTeleoperation[2]GOERTZRC,THOMPSONRC.Electronicallycontrolledmanipulators[J].Nucleonics,1954,12(11):46–47.[3]DUBEYR,EVERETTS.Human-machinecooperativeteleroboticsusinguncertainsensorandmodeldata[C]//InternationalConferenceonRoboticsandAutomation,Lueven,Belgium,May16–20,1998:1615–1622.[4]SCHIELEA,VISENTING.TheESAhumanarmexoskeletonforspaceroboticstelepresence[C]//7thInternationalSymposiumonArtificialIntelligence,RoboticsandAutomationinSpace,Nara,Japan,May19–23,2003:21–25.[5]ROSENJ,HANNAFORDB,BURNSS.Neuralcontrolofanupperlimbpoweredexoskeletonsystem-grantreport[C]//FirstNSFRoboticsandComputerVision(RCV)Workshop,LasVegas,USA,2003:26–27.[6]ROSENJ,BRANDM,FUCHSMB,etal.Amyosignal-basedpoweredexoskeletonsystem[J].IEEETransactiononSystems,Man.,andCybernetics-PartA:SystemsandHumans,2001,31(3):210–222.[7]BHARADWAJK,HOLLANDERKW,MATHISCA,etal.Springovermuscle(SOM)actuatorforrehabilitationdevices[C]//Proceedingsofthe26thAnnualInternationalConferenceoftheIEEEEMBS,SanFrancisco,USA,September1–5,2004:2726–2729.[8]KOBAYASHIH,ISHIDAY,SUZUKIH.Realizationofallmotionfortheupperlimbbyamusclesuit[C]//ProceedingsoftheIEEEInternationalWorkshoponRobotandHumanInteractiveCommunication,Okayama,Japan,September20–22,2004:631–636.[9]COHENAYB,MAVROIDISC,BOUZITM,etal.VirtualrealityrobotictelesurgerysimulationsusingMEMICAhapticsystem[C]//ProceedingsofSPIE’s8thAnnualInternationalSymposiumonSmartStructuresandMaterials,Newport,USA,March5–8,2001:1–8.[10]NAKAIA,OHASHIT,HASHIMOTOH.7DOFarmtypehapticinterfaceforteleoperationandvirtualrealitysystem[C]//ProceedingsoftheIEEE/RSJInternationalConferenceonIntelligentRobotsandSystems,Victoria,Canada,October,1998:1266–1231.[11]KIMI,CHANGS,KIMJ,etal.KISThybridmasterarm[C]//ProceedingsoftheASMEDynamicSystemsandControlDivision,Nashville,USA,November14–19,1999:195–204.[12]JEONGY,LEED,KIMK,etal.Awearableroboticsarmwithhighforce-reflectioncapability[C]//ProceedingsoftheIEEEInternationalWorkshoponRobotandHumanInteractiveCommunication,Osaka,Japan,September27–29,2000:27–29.[13]ThetriplexdesigngroupofChineseAssociationofStatistics.Orthogonalmethodandtriplexdesign[M].Beijing:SciencePress,1987.(inChinese)[14]KIMYS,LEEJ,LEES,etal.Aforcereflectedexoskeleton-typemasterarmforhuman-robotinteraction[J].IEEETransactionsonSystems,Man.andCybernetics-PartA:SystemsandHumans,2005,35(2):198–212.[15]LAWRENCEDA.Designingteleoperatorarchitecturesfortransparency[C]//IEEEInt.Conf.onRoboticsandAutomation,Nice,France,May,1992:1406–1411.[16]RAJUGJ.Designissuesin2-portnetworkmodelsofbilateralremotemanipulation[C]//ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation,Piscataway,NJ,USA,May14–19,1989:1313–1321.[17]YOKOKOHJIY,YOSHIKAWAT.Bilateralcontrolofmaster-slavemanipulatorsforidealkinestheticcoupling-formulationandexperiment[J].IEEETransactionsonRoboticsandAutomation,1994,10(5):605–620.[18]TORTORAGJ,GRABOWSKISR.Introductiontothehumanbody-theessentialsofanatomyandphysiology[M].5thedition.NewYork:JohnWiley&Sons,Inc.,2001.[19]LENARCICJ,STANISICM.Ahumanoidshouldercomplexandthehumeralpointingkinematics[J].IEEETransactiononRoboticsandAutomation,2003,19(3):499–506.[20]VEEGERHEJ.Thepositionoftherotationcenteroftheglenohumeraljoint[J].JournalofBiomechanics,2000,12:1711–1715.[21]FANGKT,MACX.Orthogonalanduniformexperimentaldesign[M].Beijing:SciencePress,2000.(inChinese)[22]AMAGOT.SizingoptimizationusingresponsesurfacemethodinFOA[J].R&DReviewofToyotaCRDL,2002,37(1):1–7.[23]ShanghaiScienceandTechnologyStation.Themethodoftheorthogonalexperimentdesign-multifactorsexperimentmethod[M].Shanghai:ShanghaiPeople’sPress,1975.(inChinese)[24]YANGCJ,NIUB,ZHANGJF,etal.Differentstructurebasedcontrolsystemofthepumamanipulatorwithanarmexoskeleton[C]//ProceedingsoftheIEEEConferenceonRobotics,AutomationandMechatronics,Singapore,December12–15,2004:572–577.[25]KAITWANIDVILAIS,PARNICHKUNM.Forcecontrolinapneumaticsystemusinghybridadaptiveneuro-fuzzymodelreferencecontrol[J].Mechatroincs,2005,15(1):23–41.[26]AHNK,YOKOTAS.Intelligentswitchingcontrolofpneumaticactuatorusingon/offsolenoidvalves[J].Mechatroincs,2005,15(6):683–702.[27]SHIHMC,MAMA.PositioncontrolofapneumaticcylinderusingfuzzyPWMcontrolmethod[J].Mechatronics,1998,8(3):241–253.[28]MESSINAA,GIANNOCCARONI,GENTILEA.Experimentingandmodellingthedynamicsofpneumaticactuatorscontrolledbythepulsewidthmodulation(PWM)technique[J].Mechatroincs,2005,15(7):859–881.[29]XUWL,WURH.Lyapunov’sindirectmethodforstabilityanalysisoffuzzycontrolsystem[J].JournalofHunanUniversity(NaturalSciences),1998,31(3):86–89.(inChinese)[30]JENKINSD,PASSINOKM.Anintroductiontononlinearanalysisoffuzzycontrolsystems[J].JournalofIntelligentandFuzzySystems,1999,7(1):75–103.[31]BARTHEJ,ZHANGJL,GOLDFARBM.ControldesignforrelativestabilityinaPWM-controlledpneumaticsystem[J].JournalofDynamicSystems,Measurement,andControl,2003,125(9):504–508.[32]ZHANGJF,YANGCJ,CHENY.Useorthogonalexperimentalmethodtotheoptimaldesignforexoskeletonarm[J].WEASATransactionsonSystems,2007,6(6):1095–1101.[33]CHENY,ZHANGJF,YANGCJ,etal.Designandhybridcontrolofthepneumaticforce-feedbacksystemsforarm-exoskeletonbyusingon/offvalve[J].Mechantronics,2007,17(7):325–335.[34]CHENY,ZHANGJF,YANGCJ,etal.TheworkspacemappingwithdeficientDOFspaceforthepuma560robotanditsexoskeleton-armbyusingorthogonalexperimentdesignmethod[J].RoboticsandComputerIntegratedManufacturing,2006,23(4):478–487.[35]HUANGZ.Themechanismandcontroltheoryoftheparallelrobot[M].Beijing:ChinaMachinePress,1997.(inChinese)BiographicalnotesZHANGJiafan,bornin1980,iscurrentlyaPhDcandidateatStateKeyLaboratoryofFluidPowerTransmissionandControl,ZhejiangUniversity,China.HereceivedhisbachelordegreefromShanghaiJiaotongUniversity,China,in2003.Hisresearchinterestsincludeman-machinesystemandintelligentrobotics.Tel:+86-571-87953096;E-mail:caffeezhang@hotmail.com·10·字号10磅内容字号9磅，行距固定值11磅，段后回车换行1次中国作者的名字用全写，最好不用简写CHINESEJOURNALOFMECHANICALENGINEERINGFUHailun,bornin1977,iscurrentlyanengineeratZhejiangProvinceInstituteofMetrology,China.HereceivedhismasterdegreeonmechatronidcsinZhejiangUniversity,China,in2006.DONGYiming,bornin1983,iscurrentlyamastercandidateatStateKeyLaboratoryofFluidPowerTransmissionandControl,ZhejiangUniversity,China.E-mail:tim830528@163.comZHANGYu,bornin1985,iscurrentlyamastercandidateatStateKeyLaboratoryofFluidPowerTransmissionandControl,ZhejiangUniversity,China.E-mail:zhangyu_mm@hotmail.comYANGCanjun,bornin1969,iscurrentlyanprofessoratZhejiangUniversity,China.HereceivedhisPhDdegreefromZhejiangUniverstiy,China,in1997.Hisresearchinterestsincludemechachonicsengineering,man-machinesystem,roboticsandoceanengineering.Tel:+86-571-87953759;E-mail:ycj@sfp.zju.edu.cnHENYing,bornin1962,iscurrentlyaprofessorandaPhDcandidatesupervisoratStateKeyLaboratoryofFluidPowerTransmissionandControl,ZhejiangUniversity,China.Hismainresearchinterestsincludemechachonicsengineering,fluidpowertransmissionandcontrol,oceanengineering.E-mail:ychen@zju.edu.cnAppendixAppendixandsupplementbothmeanmaterialaddedattheendofabook.Anappendixgivesusefuladditionalinformation,butevenwithoutittherestofthebookiscomplete:Intheappendixarefortydetailedcharts.Asupplement,boundinthebookorpublishedseparately,isgivenforcomparison,asanenhancement,toprovidecorrections,topresentlaterinformation,andthelike:Ayearlysupplementisissue.·11·字号12磅内容字号10磅',)