| 一个由Mckibben肌肉驱动的类人关节 |
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| 引用本文： | 赵怀林,余达太,李果.一个由Mckibben肌肉驱动的类人关节[J].北京科技大学学报,2006,28(11):1096-1100. |
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| 作者姓名： | 赵怀林 余达太 李果 |
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| 作者单位： | 1. 郑州大学物理工程学院,郑州,450001
2. 北京科技大学信息工程学院,北京,100083 |
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| 摘 要： | 建立了一个类人的机器人关节,由两条对抗设置的Mckibben人工肌肉驱动. 简单介绍了Mckibben肌肉的力特性模型,推导了关节角度和Mckibben肌肉长度间的关系,从力学角度讨论了最大可能旋转角度,分析了Mckibben肌肉与关节的连接位置及关节结构参数对关节旋转角度的影响,并把类人关节和人类关节进行了比较. 结果表明,Mckibben肌肉的收缩率和关节结构参数对关节旋转角有较大影响,关节内侧的Mckibben肌肉与关节的适中连接位置可使关节角达到极大值.
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| 关 键 词： | 气动人工肌肉 力特性 类人关节 关节角度 肌肉长度 人工肌肉驱动 类人关节 muscles joint 极大值 关节角度 内侧 旋转角度 收缩率 结果 比较 人类 影响 结构参数 连接位置 分析 力学 关系 特性模型 |
| 收稿时间： | 2005-09-01 |
| 修稿时间： | 2006-03-18 |
A humanoid joint actuated by Mckibben muscles |
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| ZHAO Huailin,YU Datai,LI Guo.A humanoid joint actuated by Mckibben muscles[J].Journal of University of Science and Technology Beijing,2006,28(11):1096-1100. |
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| Authors: | ZHAO Huailin YU Datai LI Guo |
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| Affiliation: | 1. School of Physics Engineering, Zhengzhou University, Zhengzhou 450001, China; 2. Information Engineering School, University of Science and Technology Beijing, Beijing 100083, China |
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| Abstract: | A humanoid robot joint was established. Two pieces of Mckibben muscles were used to actuate the joint. The force characteristic of Mckiben muscles was introduced simply. The relationship between Mckibben muscle length and the joint angle was calculated. The maximum of the joint angle was discussed in view of force analysis. The influence of connective position and structure parameters on the maximum of the joint angle was analyzed. The comparison between the artificial joint and human's was conducted. The result shows that both the contraction ratio of Mckibben muscles and the structure parameters of the joint have great influence on the joint angle. The appropriate connection position with the inboard Mckibben muscle can make the joint angle get its maximum. |
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| Keywords: | pneumatic artificial muscle force characteristic humanoid joint joint angle |
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