类人气动肌肉模型与实验研究

在理论分析和实验的基础上，建立了人工气动肌肉的数学模型．该模型中考虑了橡胶管弹性、类人气动肌肉壁厚、人工肌肉末端弧度、编织网线之间以及编织网和橡胶管之间的摩擦力对气动肌肉驱动特性的影响．设计实验系统对人工气动肌肉进行了等压实验、负载拉力恒定实验和等长实验，实验结果与改进后的模型仿真结果吻合较好．

Mathematic Model and Experimental Study of Humanoid Pneumatic Muscle

The mathematic model of humanoid pneumatic muscle was established by theoretical and experimental methods. A mathematic model of humanoid pneumatic muscle was built. The influences of the four factors, including rubber tube elasticity, thickness of tube wall, arc at the end, and the fiction between braided grid and that between braided grid and rubber tube, on the mechanical properties of the pneumatic muscle were considered in the improved model. The experiments on the pneumatic muscle mechanical properties were done in three cases: constant pressure, constant pull force of load and unvaried length. The results of the experiments were basically consistent with those of improved model simulation.