Linear dynamometer testing of hydraulic artificial muscles with variable recruitment
Linear dynamometer testing of hydraulic artificial muscles with variable recruitment
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可变募集液压人造肌肉的线性测功机测试
DOI：
10.1177/1045389x16682845
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发表时间：
2017
影响因子：
2.7
通讯作者：
Ephrahim Garcia
中科院分区：
文献类型：
--
作者：
Jordan B. Chipka;M. Meller;A. Volkov;M. Bryant;Ephrahim Garcia
本文介绍了一种新型中尺度液压执行器特性试验台--直线式液压执行器特性测试台。该线性液压执行器表征装置用于测试McKibben人工肌肉，并用于展示由于实施可变招募肌肉控制方案而节省的能量。线性液压致动器表征装置是一种液压线性测功器，可以进行控制，以使所需的力和行程曲线能够被指定给人造肌肉。该直线液压执行器表征装置由驱动执行器组成，驱动执行器与测试肌肉串联。因此，驱动缸可以作为对人工肌肉的受控扰动，以模拟各种加载条件。由于能够控制人工肌肉的负载条件，线性液压执行器表征装置提供了通过实验验证肌肉性能和能量特性的能力。例如，McKibben肌肉的准静态力量-中风能力，以及可变招募控制方案的能量节省，在这项工作中被测量和展示。此外，本文还介绍了这种高通用性液压执行器特性试验台的研制过程，并给出了特性试验结果和效率研究结果。
A novel, meso-scale hydraulic actuator characterization test platform, termed a linear hydraulic actuator characterization device, is demonstrated and characterized in this study. The linear hydraulic actuator characterization device is applied to testing McKibben artificial muscles and is used to show the energy savings due to the implementation of a variable recruitment muscle control scheme. The linear hydraulic actuator characterization device is a hydraulic linear dynamometer that can be controlled to enable a desired force and stroke profile to be prescribed to the artificial muscles. The linear hydraulic actuator characterization device consists of a drive actuator that is connected in series with the test muscles. Thus, the drive cylinder can act as a controlled disturbance to the artificial muscles to simulate various loading conditions. With the ability to control the loading conditions of the artificial muscles, the linear hydraulic actuator characterization device offers the ability to experimentally validate the muscles’ performance and energetic characteristics. For instance, the McKibben muscles’ quasi-static force–stroke capabilities, as well as the power savings of a variable recruitment control scheme, are measured and presented in this work. Moreover, the development and fabrication of this highly versatile characterization test platform for hydraulic actuators is described in this article, and the characterization test results and efficiency study results are presented.
影响因子：
2.4
作者：
Farley, CT;Gonzalez, O
通讯作者：
Gonzalez, O