摘要
提出一种单自由度弯曲关节结构,关节由柔顺性的直线膨胀弹性波壳人工肌肉作用,人工肌肉采用气压驱动和气液串联复合驱动。文中给出关节的基本结构和工作原理,结合受力分析,建立了关节角位移与弹性波壳人工肌肉内腔的压力间的数学表达式,确立了弯曲的弹性波壳的内腔体积与波壳整体伸长变形量之间的拟合方程,构造了关节角位移与时间变量之间的动态模型、弹性波壳的内腔压力和角位移的数学关系,进一步根据示例进行动态仿真。
An original robotic joint with one degree of freedom was introduced, in which a linear expandable elastomeric bellows artificial muscle with pliability was driven by pneumatics ＆ tandem compound of pneumatics-hydraulics. The structure and principle of the joint were described, and the mathematical expression was established according to analysis of force, between angular displacement of the joint and pressure inside the bellows. The fitting equation was also found between linear elongation length of the bellows and its inner volume, and the dynamic model between angular displacement of the joint and time variable was proposed. The relation of pressure inside the bellows and angular displacement was also expressed. The simulation of dynamics was further given from a demonstration.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第3期570-573,582,共5页
Journal of System Simulation
基金
浙江大学流体传动与控制国家重点实验室开放基金(GZKF-2006003)
关键词
人工肌肉
弹性波壳
柔顺性
动态仿真
artificial muscle
elastomeric bellows
pliability
dynamic simulation
