水压人工肌肉的压力控制与静态特性试验

Pressure Control and Static Characteristic Experiments of Water Hydraulic Artificial Muscle

水压人工肌肉与气动人工肌肉因介质压缩性差异,驱动控制过程和特性不同.为了实现对新研制的高强度水压人工肌肉的驱动控制并分析其静态特性,提出了新的水压人工肌肉压力控制回路,建立了测试试验系统.压力控制回路调压试验表明,在水液压比例节流阀10%~90%输入范围内,水压人工肌肉驱动压力可实现较大范围的线性调节;静态试验结果表明,水压人工肌肉收缩量、驱动压力和输出力满足理论关系式.所研制的水压人工肌肉能够承受4MPa的内部水压力和14kN的负载拉力,通过静态特性试验及与现有静态模型比较分析,获取了模型参数,为水压人工肌肉机械关节的驱动与控制提供了条件.

Due to the difference between work media employed in the water hydraulic artificial muscle（WAM）and pneumatic artificial muscle（PAM）,the driving processes and characteristics are different.Aiming to analyze the static characteristics of WAM developed in our lab,a novel hydraulic pressure control circuit was proposed and a test system was designed.The experimental results of the hydraulic circuit show that the pressure can be linearly controlled in large ranges while the inputs of the water hydraulic proportional throttle valve in the circuit were limited from10%to 90%.As well,the theoretical relationship among the contraction,pressure and output drawing force of WAM was tested and verified through static drive experiments.The WAM prototype works well to generate a drawing force of at least 14 kN and can be driven at 4MPa.The model parameters of WAM were obtained through experiments and the comparative analysis of experimental results and the present static model of WAM.These contribute to the researches on drive characteristic and WAM control systems.