单套索人工肌肉的力学特性建模及实验分析

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摘要套索传动机构因具有传动路径灵活、柔顺性强等特点而被广泛应用于机器人传动系统，尤其是在机器人的仿生设计中经常将套索传动与人工肌肉相结合实现远距离柔顺驱动。然而套索传动系统中存在明显的非线性因素，这对套索人工肌肉整体传递特性有较大影响。为探究套索人工肌肉传递特性的影响因素，基于Cloulomb摩擦模型及Lugre摩擦模型理论分别建立了传动系统的静态模型和动态模型，并搭建了试验台探究与验证其力/位移的传递特性，实验结果与仿真结果基本一致。实验结果表明，全曲率和摩擦力是影响套索传动效率的主要因素，并联弹性元刚度过大和串联弹性元刚度过小均会降低套索人工肌肉的效率。本文的研究为基于Hill模型的套索人工肌肉的应用提供了理论指导。

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	杨明星1
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	夏玉磊2
	刘庆运1
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	汤国庆2
	郑近德1
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关键词 ：套索传动, 人工肌肉, 传递特性, 建模分析

Abstract：Tendon-sheath transmission system is widely used in robot drive system because of its flexible transmission path and strong flexibility, especially in the bionic design of robot, the combination of lasso drive and artificial muscle is often used to achieve long-distance flexible drive. However, there are obvious nonlinear factors in the lasso drive system, which have a great impact on the overall transmission characteristics of the lasso artificial muscle. In order to explore the influencing factors of the transmission characteristics of artificial muscle of lasso, the static and dynamic models of the transmission system are established based on the Cloulomb friction model and the Lugre friction model theory, and a test bench was built to explore and verify the transmission characteristics of force/displacement. The experimental results are basically consistent with the simulation results. The results show that the total curvature and the friction force are the main factors affecting the transmission efficiency of the lasso, and the large stiffness of the parallel spring and the small stiffness of the series spring are the two main factors leading to the low efficiency of the artificial muscle of the lasso. The research in this paper provides theoretical guidance for the application of artificial muscle of lasso based on Hill model.

Key words： Tendon-sheath transmission Artificial muscle Transfer characteristics Modeling analysis

收稿日期: 2023-03-17 出版日期: 2024-01-28

引用本文:

杨明星1,2，夏玉磊2，刘庆运1,2，汤国庆2，郑近德1,2. 单套索人工肌肉的力学特性建模及实验分析[J]. 振动与冲击, 2024, 43(2): 244-253.
YANG Mingxing1,2,XIA Yulei2,LIU Qingyun1,2,TANG Guoqing2,ZHENG Jinde1,2. Mechanical modeling and experimental analysis of a single tendon-sheath artificial muscle. JOURNAL OF VIBRATION AND SHOCK, 2024, 43(2): 244-253.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2024/V43/I2/244

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