摘要
综述了几种典型人工肌肉的工作原理、技术现状及其在机器人驱动中的应用现状,分析了面向机器人驱动的人工肌肉技术几个关键性的研究问题,如人工肌肉的研制问题、驱动器的设计问题、人工肌肉驱动的控制问题和驱动方式等问题。在此基础上,比较了不同人工肌肉的驱动特性及发展前景。
Firstly, general principle and current situation of several typical artificial muscles are introduced. Then, the application status of artificial muscles in robot drive is reviewed. Several important problems, such as artificial muscles development, actuators design, control and driving method of robot driving technology based on artificial muscles, are analyzed. Finally, the characteristics of different artificial muscles is briefly compared, and the development trends are summarized.
出处
《机械科学与技术》
CSCD
北大核心
2009年第6期834-840,共7页
Mechanical Science and Technology for Aerospace Engineering
关键词
人工肌肉
形状记忆合金
气动人工肌肉
聚合物
机器人
artificial muscle
shape memory alloy
actuated joint
pneumatic muscle actuator
polymer
robot
