类肌肉驱动器的设计及仿真  

Design and Simulation of Muscle-like Actuators

作　　者：秦浩 韩亚丽[1] 胡蜀高 QIN Hao;HAN Yali;HU Shugao(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167

出　　处：《南京工程学院学报（自然科学版）》2023年第1期59-63,共5页Journal of Nanjing Institute of Technology(Natural Science Edition)

摘　　要：为了满足日益增高的驱动需求,根据生物肌肉微观结构以及工作原理设计一种类肌肉驱动器.采用直线步进电机串联弹性元件(弹簧)作为基本单元,若干基本单元串、并联形成类肌肉驱动器.对设计的驱动器进行模拟肌肉的等长收缩和等张收缩运动仿真.仿真结果表明:串联驱动器随着基本单元增加,驱动器最大输出位移增加;并联驱动器随着基本单元增加,驱动器最大输出力增加.搭建驱动器样机平台进行基本单元输出力与位移的试验验证,验证结果与仿真结果一致.In order to meet the increasing driving demand,a kind of muscle-like actuators is designed according to the microstructure and working principle of biological muscle.As a basic unit,the linear stepping motor is connected in series with elastic elements(springs),and numerous basic units are coupled in series and parallel to form a muscle-like actuator.The simulation results show that the maximum output displacement of the series actuator and the maximum output force of the parallel actuator increase with the basic unit to test the output force and displacement.The experimental results show that the actuator s experimental output is consistent with the simulation output.

关 键 词：生物肌肉 类肌肉驱动器 直线步进电机 串联 并联 

分 类 号：TH122[机械工程—机械设计及理论]