McKibben型气动人工肌肉建模方法研究  

Study on the Method of Modeling of Mckibben Pneumatic Artificial Muscle

作　　者：臧克江[1] 王颜龙[1] 牛国玲[1] 李彩花[1] 

机构地区：[1]佳木斯大学机械工程学院,黑龙江佳木斯154007

出　　处：《佳木斯大学学报（自然科学版）》2008年第2期149-151,共3页Journal of Jiamusi University：Natural Science Edition

基　　金：黑龙江省自然科学基金(E2005-02);浙江大学流体传动及控制国家重点实验室开放基金(GZKF-2002004)

摘　　要：对McKibben型气动人工肌肉的建模方法进行了研究.主要有两种建模方法,一种是能量法,另一种是力平衡法;在理想状态下,利用能量法和力平衡法建立的理想状态下静态模型的结论是相同的;最大编织角由气动人工肌肉的结构和工作机理决定;当考虑了端部约束时,气动人工肌肉输出力会减小,此结论由能量法和力平衡法都可得到证明.本研究对气动人工肌肉精确建模有一定的指导意义.The Modeling method of Mckibben Pneumatic Artificial Muscle is studied. Two main approaches to the force have been developed by researchers, with the first energy modeling, and the second using force profile of surface pressure; under ideal condition, the model of Mckibben Pneumatic Artificial Muscle is the same, with energy method or force method. Considering the limit of the end of Pneumatic Artificial Muscle, the force is reductive, which is certified with energy method or force method. This work is significant for Modeling accurately of Mckibben Pneumat- ic Artificial Muscle.

关 键 词：气动人工肌肉 模型 端部约束 

分 类 号：H138.5[语言文字—汉语]