【摘要】 对气动肌肉的静动态刚度进行了理论分析 ,提出了气动肌肉气压刚度概念并得到了其表达式 ,探讨了不同因素对气动肌肉刚度的影响 ,并研究了由气动肌肉驱动关节系统的刚度特点更多还原

【Abstract】 From the aspect of mechanics, pneumatic muscle can be modeled as a variable stiffness spring. In this paper,static and dynamic stiffness of the pneumatic muscle were studied, the pneumatic stiffness was presented and its expression was got, the effects of different parameters on the stiffness were discussed, and the stiffness features for the joint actuated by pneumatic muscles were analyzed. This study can offer great assistances for the improvement of the pneumatic muscle and its further applications.更多还原