仿肌肉-肌腱系统柔性驱动器设计与应用

Design and Application of Muscle-tendon System-like Soft Actuator

骨骼肌被认为是一种强大的、灵活的、多功能的生物驱动器。随着软材料、柔性机器人和仿生学的不断进展,基于流体驱动的仿骨骼肌柔性驱动器因其呈现出明显学科交叉特性,成为当下研究热点。因此,以骨骼肌肌肉-肌腱结构概念为设计引导,开发一种大规模并行结构的高度仿骨骼肌柔性驱动器,称为仿肌肉-肌腱系统柔性驱动器。开展柔性驱动器应力,应变和力-速度测试。实验结果显示柔性驱动器的应力达到0.32 MPa,提升载荷40 kg,应变为11.7%,并具备与骨骼肌非常接近的力-速度特征。实现了高功率密度,高应力应变,高输出力和固有力学特性集成,并实现关节转动和摆动的应用。

Skeletal muscle is considered as a powerful,flexible and multifunctional biological actuator.With the development of soft materials,flexible robots and bionics,fluid-driven skeletal muscle-like soft actuator has become a hot research topic because of its obvious interdisciplinary characteristics.Therefore,guided by the concept of skeletal muscle-tendon structure,a large-scale parallel structure highly mimic skeletal muscle soft actuator is developed,which is called muscle-tendon system-like soft actuator.Stress,strain and force-velocity tests of the soft actuator were carried out.The experimental results show that the stress of the soft actuator reaches 0.32 MPa,the lifting load is 40 kg,the strain is 11.7%,and it has the force-velocity characteristics very close to that of skeletal muscle.The integration of high power density,high stress-strain,high output force and inherent mechanical properties is realized and applied to the application of joint rotation and swing.