摘要
为充分利用水压人工肌肉高输出重量比的优势,设计双作用水压人工肌肉关节。通过对水压人工肌肉的力学特性进行理论计算分析,结果表明,水压人工肌肉输出力大而收缩位移有限,因此,关节设计的关键在于放大收缩位移并降低传动丝载荷。采用滑轮组与关节轴承相结合的方式,放大水压人工肌肉的有效行程并降低传动丝的载荷,实现了关节的大范围运动。此外,进一步开展了双作用水压人工肌肉关节的模块化设计,为实现多关节串联扩展设置电、机械和水液压接口,设计传动丝的连接结构及空间布局,对紧凑化结构进行了强度分析。模块化双作用水压人工肌肉关节的设计能够为进一步研发多自由度水压人工肌肉机械臂奠定基础。
In order to take full advantage of the high force-to-weight ratio of water hydraulic artificial muscle(WHAM),double action WHAM joint is designed.The analysis of the mechanical characteristics of WHAM shows that the difficulty of designing WHAM joint lies in how to obtain a large range of motion space and reduce the load of the transmission wire.The combination of the pulley block and the joint bearing is used to amplify the effective stroke of the WHAM and reduce the load of the transmission wire,thereby realizing a large range of joint movement.Furthermore,the modular design of double action WHAM joint was conducted.In order to realize the expansion of multiple joints in series,electrical,mechanical and hydraulic connections were designed,the connection structure and spatial layout of the transmission wire were designed,and the strength of compact structure was analyzed.The modular design of double action WHAM joint can lay the foundation for the further development of multi-degree of freedom WHAM manipulator.
作者
车进凯
张增猛
陈圣涛
弓永军
CHE Jin-kai;ZHANG Zeng-meng;CHEN Sheng-tao;GONG Yong-jun(Naval Architecture and Ocean Engineering College,Dalian Maritime University,Dalian,Liaoning 116026)
出处
《液压与气动》
北大核心
2021年第6期9-13,共5页
Chinese Hydraulics & Pneumatics
基金
国家重点研发计划(2017YFC0307003)
国家自然科学基金(51475064)
大连市科技创新基金(2019J12GX041)
中央高校基本科研业务费(3132019351)。
关键词
水压人工肌肉
双作用关节
模块化设计
滑轮组
关节轴承
water hydraulic artificial muscle
double action joint
modular design
pulley block
joint bearing