摘要
本文首先提出用一个变刚度弹簧模型来近似气动肌肉的特性 ,在此基础上 ,研究了由单根气动肌肉组成的最简单的一个关节模型 ,并通过实验验证了该模型 。
In this article, to use a variable stiffness spring model to represent the characteristics of the pneumatic muscle is discussed at first, and then the model of a joint actuated by a single pneumatic muscle is studied The model of the joint is proved by experiments The results of this article laid a foundation for further application
出处
《机床与液压》
北大核心
2002年第6期55-56,共2页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目 (5 0 0 85 0 0 2 )
关键词
气动肌肉
关节模型
变刚度
Pneumatic muscle
Joint model
Variable stiffness
