水压人工肌肉驱动的串联式三自由度关节系统设计与试验  

Design and Experiment of a Series of 3-DOF Joint System Actuated by Water Hydraulic Artificial Muscle

作　　者：王继祥 车进凯 张增猛 杨勇[1] 侯交义 弓永军 WANG Jixiang;CHE Jinkai;ZHANG Zengmeng;YANG Yong;HOU Jiaoyi;GONG Yongjun(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;International Joint Research Center for Subsea Engineering Technology and Equipment,Dalian Maritime University,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110626 [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]大连海事大学海底工程技术与装备国际联合研究中心,辽宁大连116026

出　　处：《液压与气动》2024年第9期10-17,共8页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(52175043,U908228);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)开放课题基金资助项目(B202202);中央高等学校基本科研业务费(3132023513)。

摘　　要：为满足当前水下作业任务的需求,促进水下作业技术装备的发展,基于水压人工肌肉的拮抗驱动原理,通过对模块化人工肌肉关节的结构优化设计和组合,模仿肩肱关节搭建了一种串联式三自由度机械关节系统。首先介绍了该系统的整体设计及工作原理;其次分析了模块化人工肌肉关节驱动特性并建立了模块化人工肌肉关节的AMESim仿真模型;最后搭建了系统试验平台,并基于LabVIEW测控平台,采集了关节各自由度在人工肌肉±2 MPa的充水压差下对应的转角范围。In order to meet the needs of current underwater operation tasks and promote the development of underwater operation technology and equipment,based on the antagonistic driving principle of hydraulic artificial muscle,a series type 3-DOF mechanical joint system is built by simulating the shoulder-brachial joint through the structural optimization design and combination of modular artificial muscle joints.Firstly,introduces the overall design and working principle of the system.Secondly,the driving characteristics of modular artificial muscle joints are analyzed and the AMESim simulation model of modular artificial muscle joints is established.Finally,the system test platform is built.Based on the LabVIEW measurement and control platform,the corresponding angle range of each degree of freedom of the joint under the pressure difference of±2 MPa artificial muscle filling water is collected.

关 键 词：三自由度关节 水压人工肌肉 水液压技术 AMESIM仿真 

分 类 号：TH137[机械工程—机械制造及自动化]