| 气动肌肉及其构成的关节模型研究 |
| |
| 引用本文： | 隋立明,包钢,王祖温. 气动肌肉及其构成的关节模型研究[J]. 机械设计与研究, 2002, 18(6): 19-21 |
| |
| 作者姓名： | 隋立明 包钢 王祖温 |
| |
| 作者单位： | 哈尔滨工业大学,SMC气动技术中心,哈尔滨,150001 |
| |
| 基金项目： | 国家自然科学基金资助项目 (5 0 0 85 0 0 2 ) |
| |
| 摘 要： | 气动肌肉是一种具有重量轻、功率—重量比高的新型气动柔性执行器。用变刚度弹簧模型来近似气动肌肉的特性 ,研究了气动肌肉的刚度特性 ,并分析了由一对气动肌肉构成的关节模型 ,最后通过实验对模型进行了验证。
|
| 关 键 词： | 气动肌肉驱动器 驱动模型 仿生关节 |
| 文章编号： | 1006-2343(2002)06-0019-03 |
| 修稿时间： | 2002-04-08 |
Study on the Model of the Pneumatic Muscles and the Joint Actuated by Them |
| |
| SUI Li ming,BAO Gang,WANG Zu wen. Study on the Model of the Pneumatic Muscles and the Joint Actuated by Them[J]. Machine Design and Research, 2002, 18(6): 19-21 |
| |
| Authors: | SUI Li ming BAO Gang WANG Zu wen |
| |
| Abstract: | Pneumatic muscle is a lightweight,flexible pneumatic actuator with high power weight ratio.In this paper,we used a variable stiffness spring model to represent the characte ristics of the pneumatic muscle,and studied its stiffness property.Then a model of a joint composed by a pair of pneumatic muscles is analyzed.Finally,experiments were carried to test the model. |
| |
| Keywords: | pneumatic muscle actuator actuating model bionic joint |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
