摘要
分析并研究了影响人工肌肉驱动的主要非线性因素，建立了更为准确的驱动模型。人工肌肉是一种轻型的气动橡胶驱动器，但其驱动具有明显的非线性。传统使用的驱动模型不具有对其非线性的描述，因而与实际驱动特性有一定的误差，势必影响其控制性能。
Rubbertuator is a light rubber actuator which is pneumatically driven. However, it has obvious nonlinearity on actuating. Conventional actuating model for the rubbertuator does not describe the nonlinearity, so the controllability of the rubbertuator may be damaged. This paper deeply analyzes and studies some of factors which bring in nonlinearity, and on this base establishes a more accurate actuating model.
出处
《高技术通讯》
EI
CAS
CSCD
1998年第6期34-38,共5页
Chinese High Technology Letters
基金
863计划资助项目
