| 气动人工肌肉关节驱动特性实验研究 |
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| 引用本文： | 黄雨,彭光正,范伟.气动人工肌肉关节驱动特性实验研究[J].北京理工大学学报,2003,23(3):310-312. |
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| 作者姓名： | 黄雨 彭光正 范伟 |
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| 作者单位： | 北京理工大学,信息科学技术学院自动控制系,北京,100081 |
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| 摘 要： | 针对气动人工肌肉柔软的物理特性，设计一种新型的气动人工肌肉实验台，该试验台采用气缸作为气动人工肌肉的负载，自动测量气动人工肌肉的参数；通过对实验数据进行拟合，建立简单实用的静态特性模型；对由一对人工肌肉组成的关节进行静态实验和阶跃实验，实验结果表明，气动人工肌肉关节线性度高，但响应速度低，存在滞环．
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| 关 键 词： | 气动人工肌肉 关节 柔顺性 |
| 文章编号： | 1001-0645(2003)03-0310-03 |
| 收稿时间： | 7/1/2002 12:00:00 AM |
Experimental Investigation on the Actuating Characteristics of Pneumatically Actuated Artificial Muscle Joints |
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| HUANG Yu,PENG Guang zheng and FAN Wei.Experimental Investigation on the Actuating Characteristics of Pneumatically Actuated Artificial Muscle Joints[J].Journal of Beijing Institute of Technology(Natural Science Edition),2003,23(3):310-312. |
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| Authors: | HUANG Yu PENG Guang zheng and FAN Wei |
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| Affiliation: | Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China |
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| Abstract: | In view of the pliability of pneumatic artificial muscle(PAM), a new type of test bench is designed. In this test bench, a cylinder acts as the load of the PAM, and parameters of the PAM are automatically measured. A simple and practical static characteristics model is obtained by fitting these experimental data. A joint actuated by a pair of PAMs is studied by static experiments and step experiments. Experiments show the joint has high linearity yet having low response and a holding ring. |
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| Keywords: | pneumatic artificial muscle joint pliability |
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