What Is an Artificial Muscle? A Systemic Approach.
What Is an Artificial Muscle? A Systemic Approach.
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什么是人造肌肉？
作者：
B. Tondu
人工肌肉定义了一个大类别的致动器，我们建议在一个系统的框架分析，考虑任何人工肌肉作为一个开环稳定系统的任何输出，这代表了人工肌肉的尺寸从其“收缩”，理解在广义上。这种方法可以区分人工肌肉从其他执行器，并指定一个线性人工肌肉的原始模型，根据线性系统的理论。这种线性人造肌肉概念表现出与其控制值无关的恒定刚度。结果表明，仿生驱动器，由两个拮抗剂人工肌肉，要求人工肌肉的静态特性，即使在其最简化的形式，是非线性的意义上的系统理论，使可能的驱动器的位置和刚度的控制。然而，我们也试图表明，线性粘性阻尼可以是一个实用的方式，人工肌肉的动态行为是在相对良好的符合所谓的希尔曲线，解释为动态特性链接的最大收缩速度的人工肌肉的变化负载解除对重力。
Artificial muscles define a large category of actuators we propose to analyze in a systemic framework by considering any artificial muscle as an open-loop stable system for any output which represents an artificial muscle dimension resulting from its “contraction”, understood in a broad meaning. This approach makes it possible to distinguish the artificial muscle from other actuators and to specify an original model for a linear artificial muscle, according to the theory of linear systems. Such a linear artificial muscle concept exhibits a constant stiffness independent on its control value. It is shown that a biomimetic actuator, made of two antagonist artificial muscles, requires that artificial muscle static characteristic, even in its most simplified form, is non-linear in the meaning of systems theory, to make possible the control of both actuator position and stiffness. However, we also attempt to show that a linear viscous damping can be a practical way for the dynamic behavior of the artificial muscle to be in relatively good accordance with the so-called Hill curve, interpreted as the dynamic characteristic linking the maximum contraction velocity of the artificial muscle to varying loads lifted against gravity.