气动人工肌肉驱动的直线关节的研究

Research on Pneumatic Muscle Actuators Linear Joint

气动人工肌肉是一种由气压驱动的收缩型气动橡胶执行器,本文以一对气动人工肌肉驱动的直线关节为研究对象,将气动人工肌肉视为变刚度的气动弹簧,推导出气动人工肌肉直线关节系统的两种驱动模型,并对其驱动特性进行实验仿真研究。实验结果表明气动人工肌肉直线驱动关节具有与弹簧相似的驱动特性,为气动人工肌肉驱动直线关节的应用打下基础。

Pneumatic Muscle Actuator （PMA） is a kind of rubber actuator using compressed air as actuating medium. An analysis of linear joint actuated by PMAs that can be modeled as variable stiffness spring was presented. The models of the joint were got in two different ways. And a set of practical experiments based on the proper model was made. The results show that the drive performance of the linear joint actuated by PMAs is similar to that of spring. This work is useful for the application of the linear joint actuated by PMAs.