基于有限元方法的一种新型人工肌肉驱动器设计

Design on a kind of new typed artificial muscle driver based on finite element method

为了满足机器人驱动器速度输出范围宽、负载能力大、输出精度高等要求,提出了一种新型的人工肌肉驱动器。介绍了该机构的运行原理和实现方式,并对其主要部件进行了有限元分析和参数优化。其独特的柔性铰链结构及箝位中心调节装置使得该机构能够实现高速、大行程、大输出力且工作的稳定,具有较高的实用价值。该人工肌肉具有良好的驱动性能,为下一步物理样机的研制提供了很好的基础。

For the sake of satisfying the requirements of wide ranged speed output, of large loading capability and high output accuracy of robot, a kind of new typed artificial muscle driver was put forward. The operational principle and manner of realization of this mechanism was introduced, and the finite element analysis and parametric optimization have been carried out on its main components. Its unique flexible hinge structure and clamper center adjustment device made this mechanism be able to achieve high speed, large travel and big outputting force and working stability, and to possess higher practical value. This artificial muscle bears favourable driving capability thus provided good foundation for next stepped development and manufacturing of physical prototype.