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气动人工肌肉与标准气缸的力特性比较
引用本文:施光林,周爱国,钟廷修,吕刚.气动人工肌肉与标准气缸的力特性比较[J].上海交通大学学报,2004,38(8):1346-1349,1353.
作者姓名:施光林  周爱国  钟廷修  吕刚
作者单位:1. 上海交通大学,机械与动力工程学院,上海,200030
2. 同济大学,机械工程学院,上海,200092
摘    要:为了精确地描述气动人工肌肉的力特性,建立了一个基于弹性力学的新型串联模型,并结合实验评估系统的实验结果对它进行进一步的补偿.气动人工肌肉和气缸在模型和实验数据方面的比较结果表明,气缸模型虽然简单,但爬行现象严重;气动人工肌肉的模型复杂,却无爬行现象,为气动人工肌肉在工业中的应用提供了设计依据.

关 键 词:气动人工肌肉  气缸  力特性  弹性力学  驱动器  辅助康复机器人
文章编号:1006-2467(2004)08-1346-04

Force Characteristic of Pneumatic Artificial Muscle and Its Comparison with Standard Cylinder
Abstract:In order to model pneumatic artificial muscle(PAM)'s characteristics more precisely, a new series model based on elastic theory was built up, then a further compensation was added to the series model on the basis of the experimental results. Some conclusions were obtained through comparison of the model and experimental result between the pneumatic artificial muscle and the cylinder, which provides design guides for the application of the pneumatic artificial muscle in industry.
Keywords:pneumatic artificial muscle  cylinder  force characteristic
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