中文摘要：

针对三自由度气动人工肌肉（PAM）仿生肘关节,首先利用伪刚体模型法,建立其运动学逆解数学模型;其次,根据上述模型对机构运动学逆解进行仿真分析;最后,搭建气动肌肉仿生肘关节的仿真系统模型,利用所建运动学逆解模型实现对机构虚拟样机的PID控制。由仿真结果可以看出,在设计工作空间内,三根气动肌肉长度变化连续、平稳,说明机构在运动过程中,具有良好的平滑性;且通过调节PID参数,机构前臂圆盘转角轨迹曲线与期望轨迹曲线基本吻合,从而验证了机构运动学逆解模型的准确性。

英文摘要：

For the 3-DOF pneumatic artificial muscle（ PAM） bionic elbow joint,the mathematical model of inverse kinematics is built by the pseudo-rigid-body model firstly. And then,the simulation and analysis are done for inverse kinematics problems. Finally,the simulation system of the PAM bionic elbow joint is established,and then the PID control of virtual prototype is achieved by using the model. The results show that the changes of PAM length are continuous and stable in the designed workspace. This means the mechanism has good smoothness during its movement. Furthermore,the actual and expected rotation angle curves of the forearm disc are basically coincided by adjustment of PID parameters,so the inverse kinematics model is accurate.