气动肌肉驱动仿生关节的理论分析

Theoretical Analysis of Biomimetic Joint Actuated by Pneumatic Muscles

根据气动肌肉的简化模型,通过引入关节的刚度和力矩-压力系数等概念,建立了由一对对抗性气动肌肉驱动仿生关节的理论模型。研究了关节的刚度和位置独立控制时对气动肌肉输入压力的要求,并对气动肌肉驱动关节运动时的几种压力变化方式进行了分析。研究表明,两个气动肌肉的压力的不同变化方式对于关节动态的刚度、转矩有很大的影响。

Based on the simplified model of the pneumatic muscle actuator, the concept of joint stiffness and torque-pressure coefficient were introduced, and the theoretical model of a biomimetic joint actuated by a pair of antagonist muscles was built. When both the stiffness and the position of the joint were controlled, the expression of pressure variation for the pneumatic muscles were studied. According to the sequence of pressure input, four methods to actuate the joint were analyzed. The research results show that different charging and discharging methods for the pneumatic muscles can have much effect on the stiffness and torque of the joint.