McKibben型气动肌肉模型改进与性能测试

提出一种改进的编织网气动肌肉静态模型，据此制备编织网气动肌肉。首先通过信赖域算法优化模型与实验的最小二乘误差，求解模型中的经验系数；然后分析初始编织角和橡胶管壁厚两个主要结构参数对编织网气动肌肉性能的影响；最后根据分析结果, 优化了结构参数，设计了端部结构，自制编织网气动肌肉。改进的静态模型仿真结果与实验结果一致，证明改进的静态模型提高了精度。对照实验表明，自制的编织网气动肌肉总体性能明显提高，进一步证明了改进静态模型对提高自制编织网气动肌肉工作性能的有效性。

Improvement and Performance Testing of McKibben Pneumatic Muscle Model

The braided sleeve pneumatic muscle model was studied and improved, with which a braided sleeve pneumatic muscle was made. Firstly, to solve the empirical coefficients in the model, the least squares errors between the model and experiments were optimized by the trust-region algorithm. Then, the effects of structural parameters of the initial weaving angle and rubber tube wall thickness on performance were analyzed. Finally, according to the analysis results, structural parameters were selected and both end structures were designed, and braided sleeve pneumatic muscle was self-made. Simulation coincided with experimental results, which confirmed the validity of model that improved the accuracy. It is obviously shown that the performances of braided sleeve pneumatic muscle self-made are improved a lot with control experiments, which also demonstrates the effectiveness of improving the performance of braided sleeve pneumatic muscle with the guidance of the model.