引用本文: 应申舜, 秦现生, 任振国, 冯华山, 王战玺. 基于人工肌肉的机器人驱动关节设计与研究[J]. 机器人, 2008, 30(2): 142-146.
YING Shen-shun, QIN Xian-sheng, REN Zhen-guo, FENG Hua-shan, WANG Zhan-xi. Design and Research of Robot Driving Joint Based on Artificial Muscles[J]. ROBOT, 2008, 30(2): 142-146.
 Citation: YING Shen-shun, QIN Xian-sheng, REN Zhen-guo, FENG Hua-shan, WANG Zhan-xi. Design and Research of Robot Driving Joint Based on Artificial Muscles[J]. ROBOT, 2008, 30(2): 142-146.

## Design and Research of Robot Driving Joint Based on Artificial Muscles

• 摘要: 提出一种基于人工肌肉的新型驱动关节设计方法，用于提高机器人的驱动性能．通过定义关节结构的笛卡儿坐标系统，建立了反映关节结构参数与工作空间、结构强度、动力学特性之间关系的数学模型．在上述分析的基础上，采用多目标规划算法对驱动关节进行优化设计，并给出相应的设计变量、目标函数、约束条件和求解方法．最后，将该方法应用于某四足机器人髋关节的设计过程．仿真结果表明，基于人工肌肉的新型驱动关节具有良好的强度、灵巧度和承载能力．

Abstract: In order to improve the driving performance of existing robot,an artificial-muscle-based method is proposed to design novel driving joints.Firstly,the Cartesian coordinate system of the joint mechanism is defined,and a mathematical model is constructed to express the relationships among the structure parameters,workspace,structure intensity,and dynamical features of the driving joints.Based on these analyses,a multi-objective programming algorithm is then utilized to optimize the design of the driving joints,and such relevant factors as the design variables,objective function,constraint conditions and solution method are presented in detail.Finally,the proposed method is applied to the sciatic joint design of a quadruped robot,and the simulation results prove the advantages of the artificial-muscle-based driving joint in terms of strength,dexterity, and carrying capacity.

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