The Study On Static And Dynamic Characteristics Of Flexible Artificial Muscle And Its Application

As a new type of actuator,artificial muscle has the advantages of simple structure,large output force and weight ratio,good flexibility,cleaning and so on.The traditional artificial muscle contains the joint,and the friction force is transferred by the friction between the joint part and the rubber and the knitting net.This seriously affected the overall performance of artificial muscles.In this context,a flexible artificial muscle is designed.In this paper,a new type of artificial muscle joint structure is designed,which reduces the composition material into two kinds,and improves the inherent defects of the joint structure.Combining with the theory of the elastic modulus of the composite,the static mechanical model is established.After that,the experimental device of flexible artificial muscle was established,and the theoretical model was verified.The static performance tests were carried out,which mainly includes:The constant pressure performance test,the equal load performance test,the different length muscle performance test,the different quantity muscle performance test.The experimental results show that,although there is a certain error,but the model can be obtained under the given parameters.When the pressure is constant,the shrinkage force is negatively correlated with the shrinkage.When the load is constant,the shrinkage is positively correlated with the pressure.With the increase of the effective length of muscle,the end force increases.Under the same internal pressure,the contraction force of two artificial muscles is about twice as large as that of a single artificial muscle.The dynamic frequency response characteristics of the flexible artificial muscle were tested,and the results show that it can meet the needs of normal walking.Finally,a flexible knee joint device is designed,which uses flexible artificial muscles as the driving unit.Surface EMG signal was used to verify the effectiveness of the device.The results show that the device can reach the purpose of boosting.