仿肌肉-肌腱系统柔性驱动器设计与应用

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。

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

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.