气动人工肌肉编织角极值的确定  

Determination of Extremum Ealue of Pneumatic Artificial Muscle Braid Angle

作　　者：臧克江[1] 张岚 牛国玲[1] 郭士清[1] 吴贵福[1] 王彦龙[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）》2011年第6期848-850,共3页Journal of Jiamusi University：Natural Science Edition

基　　金：黑龙江省教育厅科学技术研究项目资助(11531372)

摘　　要：编织角的极限值直接决定着气动人工肌肉的收缩范围,从理论上来说,编织角的极值分别为θmin=0°和θmax=54.73°,而构成气动人工肌肉的纤维丝是有几何形状的,因而实际的编织角极值就与理论编织角的极值不同.通过推导,得到了实际的编织角极值公式,并对其进行了讨论,给出了实际编织角极值确定方法.The pneumatic artificial muscle contraction range is directly determined by the extremum values of braid angle.In theory,the extremum values of braid angles are θmin=0° and θmax=54.73°,respectively.However,the fibre which constitute the pneumatic artificial muscle has geometric shape,so the actual extremum value of braid angle are different from the theory extremum value.The formula of the actual braid angle extremum value was deduced.Through discussion,the method to determine the braid angle extremum value was obtained.

关 键 词：气动人工肌肉 编织角极值 收缩范围 

分 类 号：TH138.5[机械工程—机械制造及自动化]