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| Optimization design of parameters in pneumatic muscles actuated joint |
| SUI Li-ming, TAN Shi-jiang, ZHANG Li-xun |
| School of Mechanical & Electrical Engineering, Harbin Engineering University, Harbin 150001, China |
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Abstract In the design of pneumatic muscles actuated joint， trial\|and\|error method is normally adopted to select parameters， which cannot acquire the optimal performance. To solve this problem， graph method to determine the optimum parameters was proposed. By utilizing the constant pressure characteristics of pneumatic muscle， the optimum initial length of the pneumatic muscle can be obtained. In the design of joint diameter， to guarantee achieving maximal joint angle， optimizing analysis on joint diameter was carried out. The proposed method is simple and applicable.
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Published: 28 August 2008
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气动肌肉驱动关节参数的优化设计
在气动肌肉驱动关节的设计中,关节参数的确定通常采用试凑法,此时不能保证结果是最优的．为解决这个问题,提出了确定最佳参数的图示解法,利用气动肌肉的等压特性曲线求得气动肌肉的最佳初始长度．在关节直径的设计中,为保证能够得到最大转角,对关节直径进行了优化分析．提出的方法具有简便易行的特点．
关键词：
气动肌肉,
关节,
优化
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