一体化双作用水压人工肌肉直线执行器设计

Integrated Design of Double-acting Water Hydraulic Artificial Muscle Linear Actuator

单体水压人工肌肉仅能提供收缩作用。基于双作用液压缸的工作原理,设计了一体化双作用水压人工肌肉直线执行器。利用水压人工肌肉的力-位移特性,分析执行器运动行程与水压人工肌肉结构参数之间的关系,并确定执行器的相关参数。对导流件和动密封部件进行结构设计,使2个水压人工肌肉的工作压力独立控制。在此基础上,分析水压人工肌肉的工作条件对执行器运动的影响,并对导向元件和运动元件进行强度分析,为一体化双作用直线执行器样机研制奠定基础。

Single water hydraulic artificial muscle(WHAM)can only provide contraction.Based on the working principle of the double-acting hydraulic cylinder,an integrated double-acting WHAM linear actuator is designed.The relationship between actuator stroke and WHAM structure parameters is analyzed through the force displacement characteristics of WHAM,and the relevant parameters of actuator are determined.The structural design of the deflector and the dynamic sealing component is used to independently control the working pressure of the two WHAM.Furthermore,the effect of WHAM's working conditions on actuator strokes are analyzed,and the guiding and moving elements'strength are analyzed.The results can provide basis for the development of integrated double acting linear actuator prototype.