燕山大学学报2026，Vol.50Issue(3)：213-219,7.DOI:10.3969/j.issn.1007-791X.2026.03.003
基于水压人工肌肉的机器人单腿设计及试验
Design and experiment of a robotic single leg based on water hydrodynamic artificial muscles
摘要
Abstract
Traditional motor-driven solutions face challenges in meeting the requirements of legged robots for underwater engineering operations,including complex waterproof sealing design and high manufacturing costs.To meet the current requirements for underwater engineering operations,in this study,a single leg model was proposed,which driven by water hydraulic artificial muscles using water as the driving medium,fundamentally avoiding these issues.Firstly,a joint module was designed based on the antagonistic action of two water hydraulic artificial muscles.On this basis,joint modules were connected in series to form a single leg prototype,and a test platform was established.Leg joint motion experiments were then conducted based on kinematic analysis.The experimental results showed that the single leg driven by water hydraulic artificial muscles can satisfy motion control requirements,laying a foundation for subsequent research on water hydraulic multi-legged robots.关键词
水压人工肌肉/运动学分析/复合摆线轨迹/水压机器人Key words
water hydraulic artificial muscles/kinematic analysis/compound cycloidal trajectories/water hydraulic robot分类
机械制造引用本文复制引用
李军,张增猛,车进凯,杨勇,宁大勇,弓永军..基于水压人工肌肉的机器人单腿设计及试验[J].燕山大学学报,2026,50(3):213-219,7.基金项目
国家自然科学基金资助项目(52175043,U1908228) （52175043,U1908228）
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) （B类）
中央高校基本科研业务费专项资金资助项目(3132023513) （3132023513）
