气动肌肉驱动人工关节的建模研究

由气动肌肉驱动的人工关节具有重量轻、柔顺性好等特点。在关节建模中,首先需要解决气动肌肉实际特性和理论模型之间的差别,为此引入了力-压力系数和刚度系数,从而建立了实际特性和理论模型之间的联系。其次,在建模过程中为简化模型而忽略气体的流动过程及压缩性会使得理论模型的动态响应比实际模型要差。为此,考虑气动肌肉的充放气过程,建立了关节更准确的动态模型。最后,通过实验对模型进行了验证。

Modeling of an Artificial Joint Actuated by Pneumatic Muscles

The artificial joint actuated by pneumatic muscle has many advantages such as lightweight and compliant. In the modeling of the joint, the difference between the actual characteristics and the ideal model should be consid-. ered first, therefore, force-pressure coefficient and stiffness coefficient were brought forward to establish the relationship between the actual and theoretical model. Second, omitting the flowing and the compressibility of the gas, the response of the theoretical model may be worse than that of the real model. In consequence, considering the charging and discharging process, a more accurate dynamic model of the joint was built. Finally, the model was validated by experiments.