[1]赵怀林,李果,余达太..气动人工肌肉驱动的类人关节研究[J].郑州大学学报(工学版),2005,26(04):81-84.[doi:10.3969/j.issn.1671-6833.2005.04.020]
　ZHAO Huailin,Li Guo,Yu Datai.Pneumatic artificial muscle-driven human-like joint research[J].Journal of Zhengzhou University (Engineering Science),2005,26(04):81-84.[doi:10.3969/j.issn.1671-6833.2005.04.020]

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气动人工肌肉驱动的类人关节研究()

分享到：

《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:

26卷

期数:

2005年04期

页码:

81-84

栏目:

出版日期:

1900-01-01

文章信息/Info

Title:

Pneumatic artificial muscle-driven human-like joint research

作者:

赵怀林; 李果; 余达太.

郑州大学物理工程学院,河南,郑州,450052;北京科技大学信息工程学院,北京,100083, 北京科技大学信息工程学院,北京,100083

Author(s):

ZHAO Huailin; Li Guo; Yu Datai

关键词:

气动人工肌肉;  类人关节;  关节角度

Keywords:

pneumatic artificial muscles;  humanoid joints;  Joint angle

DOI:

10.3969/j.issn.1671-6833.2005.04.020

文献标志码:

A

摘要:

Mckibben气动人工肌肉是一种由气压激励的运动引擎,它可以输出足够的拉力,并具有一定的柔顺性.建立了一个新的机器人肘关节,关节结构由人类肘关节演变而来,由两条对抗设置的Mckibben气动人工肌肉驱动,肌肉对的伸缩运动导致关节旋转;分析和计算了关节角度和人工肌肉收缩长度间的关系,以及最大旋转角的几种可能情形,推导出最大可能旋转角度,讨论了关节结构参数对最大旋转角度的影响,并把该机器人关节和人类关节进行了比较.

Abstract:

Mckibben pneumatic artificial muscle is a sports engine excited by air pressure, which can output sufficient pulling force and has a certain degree of compliance. A new robotic elbow joint was built, the joint structure evolved from the human elbow joint, driven by two Mckibben pneumatic artificial muscles set up against each other, the telescopic movement of the muscle pair caused the joint to rotate; The relationship between joint angle and artificial muscle contraction length, as well as several possible scenarios of maximum rotation angle, the maximum possible rotation angle is derived, the influence of joint structural parameters on the maximum rotation angle is discussed, and the robot joint and human joint are compared.

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