水压人工肌肉驱动的模块化仿生机器人设计与单元模块试验  

Design and Experimental of Modular Bionic Robot Unit Driven by Water Artificial Hydraulic Muscles

作　　者：贾云瑞 张增猛 车进凯[1] 张康 杨睿 陈圣涛[1,2] JIA Yun-rui;ZHANG Zeng-meng;CHE Jin-kai;ZHANG Kang;YANG Rui;CHEN Sheng-tao(Naval Architecture and Ocean Engineering College,Dalian Maritime University,Dalian,Liaoning 116026;Liaoning Provincial Key Laboratory of Rescue and Salvage Engineering,Dalian Maritime University,Dalian,Liaoning 116026;Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education of China,Dalian University of Technology,Dalian,Liaoning 116026)

机构地区：[1]大连海事大学船舶与海洋工程学院,辽宁大连116026 [2]大连海事大学救助与打捞工程辽宁省重点实验室,辽宁大连116026 [3]大连理工大学精密/特种加工及微制造技术教育部重点实验室,辽宁大连116026

出　　处：《液压与气动》2023年第12期1-5,共5页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(52175043,U908228);辽宁省自然科学基金(2020-HYLH-18);大连理工大学精密/特种加工及微制造技术教育部重点实验室(B类)开放课题基金(B202202);中央高等学校基本科研业务费(3132023513)。

摘　　要：单体水压人工肌肉仅能提供收缩作用,基于水压人工肌肉驱动关节的工作原理,设计了仿生机器人单元模块,能实现伸缩和2个方向的偏转功能。利用水压人工肌肉的力位移特性,对弹簧进行选型计算。搭建了由四水压人工肌肉驱动的单元模块,并完成不同弹簧下的偏转试验,采集水压人工肌肉的收缩力、工作压力以及单元偏角,得到在空载条件下压力变化量与单元模块偏转角度之间的关系曲线。为进一步设计带载模块化仿生机器人奠定基础。Single water hydraulic artificial muscle(WHAM)can only provide contraction.At the same time,based on the working principle of WHAM driving the joint,a bionic robot unit module is designed.A single module can realize rectilinear motion in axial direction and deflection in two directions.The spring is selected and calculated by using the force-displacement characteristics of WHAM.A unit module system driven by four WHAMs was built.The deflection tests under different types of springs were completed with the contractile force,working pressure and unit declination of the WHAMs were recorded.The relationship curve between the pressure change and the deflection angle of the unit module under no-load condition is obtained,which lays the foundation for the further design of the loaded modular bionic robot.

关 键 词：水压人工肌肉 仿生机器人 弹簧 柔性模块 

分 类 号：TH137[机械工程—机械制造及自动化]