An elongated pneumatic muscle and its dynamic modeling method

Abstract

The invention discloses an elongated pneumatic muscle, which comprises a telescopic tube, a braided net and two terminal joints, the braided net is wrapped on the outer ring of the telescopic tube, and the length of the braided net is longer than that of the telescopic tube The two terminal joints are respectively fixedly connected to the two ends of the telescopic tube so as to fixedly connect the telescopic tube to the braided net. The invention also discloses that the dynamic modeling method of the elongated aerodynamic muscle includes: equivalently, the elongated aerodynamic muscle is a structure in which a damping unit, an elastic unit and a thrust unit are connected in parallel to obtain the elongated aerodynamic muscle. The dynamic model formula of the muscle; and the damping parameters of the damping unit, the elastic parameters of the elastic unit and the thrust parameters of the thrust unit are respectively obtained. The elongated aerodynamic muscle proposed by the invention can be flexibly applied to various occasions, and the dynamic modeling method accurately reflects the dynamic characteristics of the elongated aerodynamic muscle, laying a foundation for the research on the elongated aerodynamic muscle.

Description

An elongated pneumatic muscle and its dynamic modeling method technical field The present invention relates to the field of robotics, in particular to a kind of elongation pneumatic muscle and its dynamic modeling method. Law. Background technique [0002] The pneumatic muscle is a simple new type of pneumatic actuator, which has the characteristics of large power ratio, good flexibility and high safety. point. Pneumatic muscles can be divided into two categories: contraction-type pneumatic muscles and elongation-type pneumatic muscles. Among them, the contractile pneumatic muscles are widely It is used to drive mechanical dexterous hands, bionic quadruped robots, exoskeleton power assist devices, etc., and the research purpose of elongating pneumatic muscles. is still in the preliminary stage. In addition to the advantages of the stretched pneumatic muscle, the contracted pneumatic muscle is flexible and light in structure. It also has good extension ability, whi...

AI Technical Summary

Problems solved by technology

The above research methods have made some progress in the dynamic modeling of aerodynamic muscles. However, the above research mainly focuses on contractile aerodynamic muscles. The methods for dynamic modeling and influencing parameter analysis of elongated aerodynamic muscles are yet to be developed. Research

Images