水压人工肌肉三自由度关节试验系统设计

根据人体肩关节的运动机理，设计了串并联混合式三自由度水压人工肌肉机械关节.参照人体肩关节输出力矩范围，设计了机械关节输出转矩，计算确定与机械关节相匹配的水压人工肌肉参数.根据水压人工肌肉在不同工作压力下的力位移特性，分析关节的转角转矩关系.设计并搭建了三自由度关节试验系统，该系统在承受一定力矩的情况下可实现三自由度回转运动，为深入研究水下作业机械手的运动控制、操纵性能提供了条件. 

Design of Three-Degree-of-Freedom Water Hydraulic Artificial Muscle Joint System

A three-degree-of-freedom water hydraulic artificial muscle mechanical joint with a serial-parallel hybrid model was designed based on the motion mechanism of human shoulder joint. According to the output torque range of the human shoulder joint, the mechanical joint output torque range were designed, and the parameters of water hydraulic artificial muscle were calculated to match the joint. According to the force displacement characteristics of water hydraulic artificial muscle under different working pressures, the relationship between rotation angle and torque was analyzed. A three-degree-of-freedom joint test system was designed and set up. This joint test system can achieve three-degree-of-freedom turning motion under a certain torque, which provides the conditions for further research on the motion control and maneuverability of the underwater manipulator.