一种新型人工肌肉驱动机理和仿真研究.pdfVIP

第 20 卷第 9 期 系 统 仿 真 学 报© Vol. 20 No. 9 2008 年 5 月 Journal of System Simulation May, 2008 一种新型人工肌肉驱动机理与仿真研究 张江涛，关胜晓，汪增福 （中国科学技术大学自动化系, 安徽 合肥 230027 ） 摘 要：为了满足机器人驱动器宽范围速度输出，大的负载能力，高的输出精度等要求，提出了一 种新型的人工肌肉驱动器。分析了这种人工肌肉的驱动机理，并对其进行了动力学建模与仿真。 仿真结果表明，系统存在两种运行状态，在连续动态运行状态，最大速度可达到31mm/sec ，最大 的输出力达到150N，单步位移13.3µm 以内；在准静态，最大速度可达到17.5mm/sec，输出力达 到120N，单步位移11.8µm 以内。系统的自锁力可达500N。同时分析了输入信号频率、负载、信 号类型、相位等对系统输出速度的影响。研究结果表明该人工肌肉具有良好的驱动性能，为下一 步物理样机的研制提供了很好的基础。 关键词：人工肌肉；机器人；建模与仿真；压电陶瓷；尺蠖型驱动器 中图分类号：TP242 文献标识码：A 文章编号：1004-731X (2008) 09-2390-05 Principle and Simulation of New Artificial Muscle ZHANG Jiang-tao, GUAN Sheng-xiao, WANG Zeng-fu (Department of Automation, University of Science and Technology of China, Hefei 230027, China) Abstract: In order to satisfy the requests of large force/velocity output and high precision of robots’ actuator, a new artificial muscle was proposed. Its driving principle was analyzed. The dynamics model was constructed and the simulation was processed. The simulation results show that the muscle has two working states. At the state of continuous working, the velocity reaches 31mm/sec, the output force is 150N, and the incremental displacement in each step is 13.3µm, while in the quasi-static state, they are 17.5mm/sec, 120N, and 11.8µm respectively. The lock force of the muscle can get 500N. The relationships between the velocity and load, the signal’s frequency, style, and phase were also analyzed. As an actuator, the artificial muscl