气动人工肌肉关节驱动特性实验研究

Experimental Investigation on the Actuating Characteristics of Pneumatically Actuated Artificial Muscle Joints

摘要: 针对气动人工肌肉柔软的物理特性,设计一种新型的气动人工肌肉实验台,该试验台采用气缸作为气动人工肌肉的负载,自动测量气动人工肌肉的参数;通过对实验数据进行拟合,建立简单实用的静态特性模型;对由一对人工肌肉组成的关节进行静态实验和阶跃实验,实验结果表明,气动人工肌肉关节线性度高,但响应速度低,存在滞环.

Abstract: In view of the pliability of pneumatic artificial muscle(PAM), a new type of test bench is designed. In this test bench, a cylinder acts as the load of the PAM, and parameters of the PAM are automatically measured. A simple and practical static characteristics model is obtained by fitting these experimental data. A joint actuated by a pair of PAMs is studied by static experiments and step experiments. Experiments show the joint has high linearity yet having low response and a holding ring.