Measurement and modeling of McKibben pneumatic artificial muscles
Measurement and modeling of McKibben pneumatic artificial muscles
复制标题
DOI：
10.1109/70.481753
复制
发表时间：
1996-02-01
期刊：
影响因子：
--
通讯作者：
Hannaford, B
中科院分区：
文献类型：
--
作者：
Chou, CP;Hannaford, B
本文报道了机械测试和建模结果的McKibben人工肌肉气动执行器。这种装置最早是在20世纪50年代开发的，它包含一个由编织绳包围的膨胀管。我们报告静态和动态长度-张力测试结果，并推导出三种不同模型的这些属性的线性化模型。的结果进行了简要比较，与人类肌肉的特性，以评估适合的McKibben致动器的人体肌肉仿真生物为基础的机器人手臂。
This paper reports mechanical testing and modeling results for the McKibben artificial muscle pneumatic actuator. This device, first developed in the 1950's, contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human muscle properties to evaluate the suitability of McKibben actuators for human muscle emulation in biologically based robot arms.