三自由度人工肌肉驱动器的静力学研究

STUDY ON STATICS OF RUBBER ACTUATOR WITH 3 DEGREES OF FREEDOM(UNDERα=0FUNCTION)

本文是关于以纤维增强橡胶为材料制成的，用流体驱动的三自由度柔性微型驱动器力学性能的基础研究。文章借助圆弧模型简化问题，依据矢量合成法求得作用于人工肌肉上的外力及外力矩。最后，利用微体变形原理推导了纤维旋转角。α＝０°条件下的４个变形公式，取得了比文献［５］更接近实测值的结果。

This paper deals with static characteristics of flexible microactuator with 3 DOF. It is made offiber reinforced rubber and is driven by fluid.Four deformation equations are derived based on the infinitesi-mal deformation theory,The calculated results are better than the results in[5] and they are compared withthe experimental data.