摘要
建立了气动人工肌肉系统完整的静动态特性数学模型,提出气动人工肌肉系统的工作过程可以分为等容充气、充气收缩、排气伸长和等容排气四个部分。并通过仿真分析了气动人工肌肉系统的工作特性,为控制策略的选取以及试验研究打下基础。
Pneumatic muscle is a novel pneumatic actuator, composed of a rubber tube surrounded by braided cords. The full mathematic model of pneumatic muscle system is presented. The working process of pneumatic muscle system is divided into four successive processes, consisting of isometric inflation, contractive inflation, extended disinflation and isometric disinflation. The characteristics of pneumatic muscle system are discussed by computer simulation.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2003年第7期23-28,共6页
Journal of Mechanical Engineering
关键词
气动技术
人工肌肉
静态特性
数学模型
仿真
动态特性
Pneumatic technology Pneumatic muscle Dynamic and static characteristics Mathematic model Simulation
