摘要
基于肌肉多运动单元结构机理,提出一种由主驱动单元串联弹性元件组成基本致动单元、多个基本致动单元串联或并联构成类肌肉仿生驱动器的方法。首先进行驱动器的机构设计;然后进行驱动器的动力学仿真分析,研究等长收缩和恒力收缩工况下驱动器的输出性能。仿真结果表明,驱动器仿真输出与理论分析相一致,具有较好的运动输出效果。
Based on the structural mechanism of muscle multi-motion unit,a method is proposed in which a basic actuation unit is composed of a series of elastic elements and a main drive unit,then a plurality of basic actuation units are connected in series or in parallel to form a muscle-like bionic drive.First,the mechanism design of the driver is carried out;then the dynamics simulation analysis of the driver is carried out to study the output performance of the driver under the conditions of isometric contraction and constant force contraction.The simulation results show that the driver simulation output is consistent with the theoretical analysis and has a good motion output effect.
作者
韩亚丽
周一鸣
惠文杰
周伟杰
Han Yali;Zhou Yiming;Hui Wenjie;Zhou Weijie(School of Mechanical Engineering,Nanjing University of Technology,Jiangsu Nanjing,211167,China)
出处
《机械设计与制造工程》
2019年第10期10-14,共5页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金资助项目(51205183)
江苏省六大人才高峰资助项目(JXQC-015)
关键词
肌肉运动机理
类肌肉仿生驱动器
动力学仿真
muscle movement mechanism
class muscle bionic drive
dynamic simulation
