气动人工肌肉动静态性能模型分析研究

Dynamic and Static Mathematical Model Analysis of Pneumatic Artificial Muscle

气动人工肌肉性能模型对气动关节运行的准确性和稳定性起到关键作用,该研究通过对气动人工肌肉的相关研究内容进行了整理和分析,总结了国内外相关机构的研究成果,根据气动人工肌肉的结构特点,分析了其静态特性模型和动态特性模型的建立方法,模型的建立有利于更好的建立精确运动的气动人工关节及消除残余振荡研究有指导作用.

The function of pneumatic artificial muscle is very important to pneumaticjoint. This research is carried about by related research institutions in China and abroad. According to the structure characteristics and working principle of the pneumatic artificial muscle,describes the method to establish the model of static and dynamic characteristics of pneumatic artificial muscle,the establishment of the model has important function for kinematic analysis of the joint which is composed of pneumatic artificial muscles,and also has the guidance significance for further study of the residual oscillations.