液压与气动2023，Vol.47Issue(12)：1-5,5.DOI:10.11832/j.issn.1000-4858.2023.12.001
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
摘要
Abstract
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Key words
water hydraulic artificial muscle/bionic robot/spring/flexible module分类
机械工程引用本文复制引用
贾云瑞,张增猛,车进凯,张康,杨睿,陈圣涛..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[J].液压与气动,2023,47(12):1-5,5.基金项目
国家自然科学基金(52175043,U908228) （52175043,U908228）
辽宁省自然科学基金(2020-HYLH-18) （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) （B类）
中央高等学校基本科研业务费(3132023513) （3132023513）
