Mechanical modeling and experimental analysis of a single tendon-sheath artificial muscle

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Journal of Vibration and Shock ›› 2024, Vol. 43 ›› Issue (2) : 244-253.

YANG Mingxing1,2,XIA Yulei2,LIU Qingyun1,2,TANG Guoqing2,ZHENG Jinde1,2

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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

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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[J]. Journal of Vibration and Shock, 2024, 43(2): 244-253

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