中国机械工程
中國機械工程
중국궤계공정
CHINA MECHANICAl ENGINEERING
2012年
8期
883-887
,共5页
李靖%秦现生%张雪峰%王战玺
李靖%秦現生%張雪峰%王戰璽
리정%진현생%장설봉%왕전새
人工肌肉%串并联阵列%直线驱动器%电磁
人工肌肉%串併聯陣列%直線驅動器%電磁
인공기육%천병련진렬%직선구동기%전자
artificial muscle%series-parallel array%linear motor%electromagnetic
在分析动物骨骼肌的结构和运动形式的基础上,设计了基于电磁力的类肌肉肌纤维多肌小节串并联构成的阵列式人工肌肉。首先对构成人工肌肉的驱动器进行了性能对比,而后对类肌小节驱动器电磁场进行了有限元仿真分析,并完成了样机制作、不同负载及不同控制策略的多组开闭环实验测试。通过分析样机实验数据可知,该方案具有响应速度高、体积小、质量小、加速度高等特点。
在分析動物骨骼肌的結構和運動形式的基礎上,設計瞭基于電磁力的類肌肉肌纖維多肌小節串併聯構成的陣列式人工肌肉。首先對構成人工肌肉的驅動器進行瞭性能對比,而後對類肌小節驅動器電磁場進行瞭有限元倣真分析,併完成瞭樣機製作、不同負載及不同控製策略的多組開閉環實驗測試。通過分析樣機實驗數據可知,該方案具有響應速度高、體積小、質量小、加速度高等特點。
재분석동물골격기적결구화운동형식적기출상,설계료기우전자력적류기육기섬유다기소절천병련구성적진렬식인공기육。수선대구성인공기육적구동기진행료성능대비,이후대류기소절구동기전자장진행료유한원방진분석,병완성료양궤제작、불동부재급불동공제책략적다조개폐배실험측시。통과분석양궤실험수거가지,해방안구유향응속도고、체적소、질량소、가속도고등특점。
Through analysis of skeletal muscle structure and function of the animal,a bio-inspired linear electromagnetic series-parallel array artificial muscle was proposed.The performances of different kinds of artificial muscle were compared.The electromagnetic field of artificial sarcomere actuator was simulated based on finite element analysis.A model machine was made and tested at different loads and the different control strategies.The experiments show that the linear electromagnetic series-parallel array artificial muscle has good characteristics,such as high response speed,small volume,light quality,high power density ect.The linear electromagnetic series-parallel array artificial muscle has good engineering application prospects.
