To solve the problem of poor compliance of the rehabilitation robot body,a new polyvinylidene fluoride(PVDF)gel based artificial muscle is proposed,which is used as the flexible joint actuator of rehabilita-tion robots to achieve human-like actions.The preparation and the electric deformation mechanism of PVDF gel are introduced,the monomer-muscle with the function of contraction and extension is designed based on electric deformation mechanism,and then multiple monomer-muscles are combined up and down in series to form a hi-erarchical artificial muscle.Based on the three-level artificial muscle for the flexible joint of the rehabilitation robot,the driving mathematical model is identified,and simulation and experiment are implemented.The re-search results show that the artificial muscle can effectively realize position control and have the ability of elec-trostriction and expansion.As an actuator,it is feasible to apply it to robot flexible joints.
NETL
NSTL
维普
万方数据
