编织型气动人工肌肉几何特性研究  

Study of Geometry Characteristic of Braided Style Pneumatic Artifical Muscle

作　　者：臧克江[1,2] 郭艳玲[1] 马岩[1] 高明[2] 

机构地区：[1]东北林业大学,黑龙江哈尔滨150040 [2]佳木斯大学,黑龙江佳木斯154007

出　　处：《机床与液压》2010年第1期24-27,30,共5页Machine Tool & Hydraulics

基　　金：黑龙江省自然科学基金项目(E2005-02);黑龙江省教育厅项目(11531372)

摘　　要：以McKibben型气动人工肌肉为研究对象,对编织型气动人工肌肉工作机理进行了研究,建立了考虑端部有径向约束的气动人工肌肉几何模型,并对所建模型进行数值分析。通过与理想圆柱模型的对比,所建模型从理论上能更精确描述气动人工肌肉的工作特性,这对建立更加精确的气动人工肌肉模型有着重要的意义。The working mechanism of braided style pneumatic artifical muscle was studied with Mckibben pneumatic artifical muscle actuator as a ease. The geometrical model of braided style pneumatic artifieal muscle actuator was built by considering the end radial constraint and analyzed by numerical method. By comparing with the ideal cylinder model, result shows that this model can exactly describe the work characteristics of pneumatic artifical muscle actuator in theory.

关 键 词：气动人工肌肉 理论建模 端部径向约束 

分 类 号：TP211.32[自动化与计算机技术—检测技术与自动化装置]