摘要
对气动肌肉的静动态刚度进行了理论分析 ,提出了气动肌肉气压刚度概念并得到了其表达式 ,探讨了不同因素对气动肌肉刚度的影响 。
From the aspect of mechanics, pneumatic muscle can be modeled as a variable stiffness spring. In this paper,static and dynamic stiffness of the pneumatic muscle were studied, the pneumatic stiffness was presented and its expression was got, the effects of different parameters on the stiffness were discussed, and the stiffness features for the joint actuated by pneumatic muscles were analyzed. This study can offer great assistances for the improvement of the pneumatic muscle and its further applications.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第3期242-244,共3页
China Mechanical Engineering
基金
国家自然科学基金资助项目 ( 5 0 0 85 0 0 2 )
关键词
气动肌肉
变刚度
静动态刚度
气压刚度
pneumatic muscle
variable stiffness
static and dynamic stiffness
pneumatic stiffness
