CAJ | 학술논문

编织角的极限值直接决定着气动人工肌肉的收缩范围,从理论上来说,编织角的极值分别为θmin=0°和θmax=54.73°,而构成气动人工肌肉的纤维丝是有几何形状的,因而实际的编织角极值就与理论编织角的极值不同.通过推导,得到了实际的编织角极值公式,并对其进行了讨论,给出了实际编织角极值确定方法.
편직각적겁한치직접결정착기동인공기육적수축범위,종이론상래설,편직각적겁치분별위θmin=0°화θmax=54.73°,이구성기동인공기육적섬유사시유궤하형상적,인이실제적편직각겁치취여이론편직각적겁치불동.통과추도,득도료실제적편직각겁치공식,병대기진행료토론,급출료실제편직각겁치학정방법.
The pneumatic artificial muscle contraction range is directly determined by the extremum values of braid angle.In theory,the extremum values of braid angles are θmin=0° and θmax=54.73°,respectively.However,the fibre which constitute the pneumatic artificial muscle has geometric shape,so the actual extremum value of braid angle are different from the theory extremum value.The formula of the actual braid angle extremum value was deduced.Through discussion,the method to determine the braid angle extremum value was obtained.