人造肌肉驱动的二自由度拟人手臂分析

The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings. Pub Date : 2003-11-10 DOI:10.1109/HAVE.2003.1244722

C. Cocaud, A. Jnifene

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引用次数: 8

摘要

本文研究了利用人造肌肉作为机器人机械手的执行器。利用运动机能学领域的一些基本方程，开发了一种程序，以确定人体各种肌肉骨骼结构中肌肉的最佳位置。该程序考虑了人工肌肉的特性，并通过优化关节处产生的最大运动范围和输出扭矩来找到肌肉的原点和插入点。综述了目前可用的人造肌肉，如McKibben空气肌肉、形状记忆合金和电活性聚合物。提出了SMA和McKibben肌的功能模型，并将其用于优化过程。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Analysis of a two DOF anthropomorphic arm driven by artificial muscles

This paper investigates the use of artificial muscles as actuators for robot manipulators. Using some basic equations from the field of kinesiology, a procedure was developed in order to determine the optimal position of a muscle in various musculoskeletal configurations found in the human body. This procedure takes into account the artificial muscle characteristics and finds the origin and insertion point of the muscle by optimizing the maximum range of motion and the output torque produced at the joint. Currently available artificial muscles such as McKibben air muscles, Shape Memory Alloys and electroactive polymers are reviewed. Functional models of the SMA and McKibben muscles were presented and used in the optimization procedure.

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The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.

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