Design and Experiment of a Series of 3-DOF Joint System Actuated by Water Hydraulic Artificial Muscle
In order to meet the needs of current underwater operation tasks and promote the development of underwater operation technology and equipment,based on the antagonistic driving principle of hydraulic artificial muscle,a series type 3-DOF mechanical joint system is built by simulating the shoulder-brachial joint through the structural optimization design and combination of modular artificial muscle joints.Firstly,introduces the overall design and working principle of the system.Secondly,the driving characteristics of modular artificial muscle joints are analyzed and the AMESim simulation model of modular artificial muscle joints is established.Finally,the system test platform is built.Based on the Lab VIEW measurement and control platform,the corresponding angle range of each degree of freedom of the joint under the pressure difference of±2 MPa artificial muscle filling water is collected.
万方数据
维普
