【摘要】 以McKibben型气动人工肌肉为研究对象,对编织型气动人工肌肉工作机理进行了研究,建立了考虑端部有径向约束的气动人工肌肉几何模型,并对所建模型进行数值分析。通过与理想圆柱模型的对比,所建模型从理论上能更精确描述气动人工肌肉的工作特性,这对建立更加精确的气动人工肌肉模型有着重要的意义。更多还原

【Abstract】 The working mechanism of braided style pneumatic artifical muscle was studied with Mckibben pneumatic artifical muscle actuator as a case.The geometrical model of braided style pneumatic artifical muscle actuator was built by considering the end radial constraint and analyzed by numerical method.By comparing with the ideal cylinder model,result shows that this model can exactly describe the work characteristics of pneumatic artifical muscle actuator in theory.更多还原