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快速,可变的硬度诱导的编织卷绕的人造肌肉
Xinghao Hu1, Xiangyu Wang1, Jian Wang1
1School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, PR China.
概括
研究人员开发了一种新型的仿生肌肉,使用卷轴和弹性体管. 这种人工肌肉可以实现显著的收缩和高功率密度,用于先进的机器人应用.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 生物模拟学是一种生物模拟学.
背景情况:
- 先进的机器人系统需要高效的执行技术来模仿生物肌肉.
- 现有的人工肌肉往往面临着中风,速度和能量效率的限制.
研究的目的:
- 引入一种基于刚性变化的新型仿生肌肉执行器.
- 描述其性能指标,包括收缩,功率密度和效率.
- 为了证明其在机器人运动中的适用性.
主要方法:
- 通过用内部弹性体空洞管子绕一根坚固的来制造肌肉.
- 使用振荡式输入气压来执行.
- 性能评估包括收缩百分比,功率密度和机械收缩效率.
- 双极激应分析和刚性建模.
主要成果:
- 在120kPa的气压下,在10Hz时达到47.3%的可逆收缩.
- 产生的最大功率密度为3.0W/g.
- 证明了高机械收缩效率的74%.
- 呈现双极激应 (根据初始状态扩张或收缩).
结论:
- 开发的仿生肌肉提供了适合机器人应用的高性能.
- 低压操作可实现便携式和热驱动的启动.
- 基于硬度的驱动机制对机器人运动非常有效,包括跑步和爬行机器人.
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