计及负载变化的容积驱动人工肌肉长度预测方法

doi:10.3901/JME.260404

摘要/Abstract

摘要： 人工肌肉的容积驱动方式是一种无阀的泵控驱动方式，其具有驱动设备简便、系统效率高等优点。现有容积驱动人工肌肉的长度预测方法中没有考虑负载力影响，造成理论长度与实际存在偏差，亟须改进。首先进行了负载力对人工肌肉长度的影响实验，发现对于不同长度人工肌肉，相同负载力造成的长度相对变化量是相同的，但其绝对变化量与肌肉原始长度有关，即若人工肌肉原始长度越长，由负载力造成的长度绝对变化量越大。因此对于较长的人工肌肉必须考虑负载力的影响。然后通过实验得到了外负载力对人工肌肉长度的影响的关系，并基于此对原有纯几何长度预测模型进行修正。最后，假定人工肌肉的状态量，如无负载肌肉长度、肌肉橡胶筒弹性模量、压力-负载力关联系数等，均为人工肌肉注液体积的函数，从而建立了以注液体积为核心变量的容积驱动人工肌肉长度预测方法，并通过单根人工肌肉实验以及并联机构应用实验对其加以验证。实验表明该方法即使在无位置反馈的开环控制条件下也能达到相当的精度。这为容积驱动人工肌肉在机器人领域的应用提供了新的技术路径。

关键词: 人工肌肉, 容积驱动, 长度预测, 纯几何容积模型, 并联机构

Abstract: The pump driving mode of artificial muscles represents a valveless driving approach, offering advantages such as straightforward driving equipment and high system efficiency. Among the existing length prediction methods for pump-driven artificial muscles, the impact of load force has not been taken into account, resulting in deviations between theoretical and actual lengths, thus urgently demanding improvement. Firstly, an experiment is carried out to explore the influence of load force on the length of artificial muscles. It is discovered that for artificial muscles of varying lengths, the relative length variations caused by the same load force were consistent, but the absolute variations were related to the original length of the muscle. Specifically, the longer the original length of the artificial muscle, the greater the absolute length variation induced by the load force. Hence, for longer artificial muscles, the influence of load force must be considered. Subsequently, the relationship between the external load force and the length of artificial muscles is obtained through experiments, and based on this, the original pure geometric length prediction model is revised. Finally, it is hypothesized that the state variables of artificial muscles, such as the length of unloaded muscles, the muscle elastic modulus, the pressure-load force correlation coefficient, etc., are all functions of the injected volume. Thus, a length prediction method for pump-driven artificial muscles is established with the injected volume as the core variable, and verified through single artificial muscle experiments and parallel mechanism application experiments. The experiments indicated that this method can achieve considerable accuracy even under open-loop control conditions without position feedback. This provides a new technical approach for the application of pump-driven artificial muscles in the field of robotics.

Key words: artificial muscles, pump-driven, length prediction, geometric volume model, parallel mechanism

中图分类号:

TP242

崔健锋, 窦嘉琳, 姜洪洲. 计及负载变化的容积驱动人工肌肉长度预测方法[J]. 机械工程学报, 2026, 62(9): 14-25.

CUI Jianfeng, DOU Jialin, JIANG Hongzhou. Prediction Method for the Length of Pump-driven Hydraulic Artificial Muscles Considering Load Variations[J]. Journal of Mechanical Engineering, 2026, 62(9): 14-25.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I9/14

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