Design And Application Of Bionic Muscle Based On Three Element Model Of Skeletal Muscle

Humanoid robot has a broad prospect of development because of the humanoid biped walking function,but there are some disadvantages such as the lack of flexibility.Therefore,it is of great significance to develop a flexible driving device which is similar to the characteristics of human muscle.If the humanoid robot has such a change can be their own flexible characteristics,in the completion of a variety of actions can have better adaptability and reduce system energy consumption.This paper is based on the Hill three element model of the biological skeletal muscle,a bionic muscle model is proposed.The bionic muscle is constitute by action element damper element and elastic element.The design process of the key components of the bionic muscle is given,and several working conditions of the bionic muscle are introduced.In this paper,three-dimensional model of bionic muscle is established,and the appropriate damper coefficient is obtained by analyzing the model.It was found that the force-velocity relationship and the force-muscle length-velocity relationship of the bionic muscle designed in this paper was in accordance with the Hill equation and the Baratta three-dimensional mathematical model through simulation with Hill's and Baratta's experimental method.According to the parameters of human lower limb of the human body model is established.In the ADAMS using the design of the bionic muscle driven lower limb model,by setting a reasonable simulation parameters,can be obtained hip joint angular displacement curve.The hip joint angular displacement curve is similar with the experimental data of human free gait.This study provides a new idea for the flexible drive of humanoid robot.The proposed bionic muscle is verified by simulation,and its properties are similar to those of Hill and Baratta's biological skeletal muscle.The bionic muscle is applied to the lower limb model of human body,and the motion of the hip is consistent with that of the human body,which proves the feasibility of the proposed scheme.