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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。
In order to meet the requirements of wide range speed output, large load capacity and high output precision of robot driver, a new type of artificial muscle driver is proposed. The driving mechanism of this kind of artificial muscle was analyzed, and its dynamics modeling and simulation were carried out. The simulation results show that the system has two operating states, the maximum speed can reach 31mm / sec, the maximum output force can reach 150N and the single-step displacement can reach 13.3μm under the condition of continuous dynamic operation. In quasi-static, the maximum speed can reach 17.5mm / sec, output force reached 120N, single-step displacement of 11.8μm or less. System self-locking up to 500N. At the same time, the influence of the input signal frequency, load, signal type and phase on the system output speed is analyzed. The results show that the artificial muscle has good driving performance, which provides a good foundation for the next physical prototype.