论文总字数：25582字

摘 要

气动肌肉在关节两端安装需要考虑安装位置的问题，本设计中首先对人体各个关节肌肉群的分布位置进行研究，从而基于仿生的角度对气动肌肉同位置分布。在安装位置确定的情况下，作图分析关节转动过程中，一条气动肌肉两端安装位置的距离变化，得到其最大值与最小值，并由其差值及气动肌肉的收缩率得到气动肌肉的最小长度。同时在此过程中由力矩平衡做静力分析，得到关节转动所需的气动肌肉拉力。气动肌肉在各位置的安装中，考虑在肌肉安装集中的股骨与胫骨相应位置设计安装盘可以更有利于肌肉的安装并保持其方向的准确性。装配完成后各个关节及肢体可以气动肌肉的驱动下产生相应方向的运动。

关键词：仿人关节 关节自由度 类人机器人 气动肌肉

The design and development of humanoid joint based on Pneumatic Muscle Actuator

02011121 Yan Peng

Supervised by Tian Mengqian

Abstract： This article embarks from the research status of humanoid robot, important -- humanoid joint part of the humanoid robot to design and research, and strive to be consistent with the biological structure of the human body, and can achieve the main functions of the human body each joint of the humanoid joint, and design production of pneumatic muscle to generation for human physiological muscle of each joint drive. In the design of joint of human joint motion form and degree of freedom analysis, and for different categories of joint design respectively, structure, reliable, economical and feasible, and has higher bionic significance and production is brought forward. Pneumatic muscle first is the production of both ends of the joint design, joint requires a smaller volume and has a higher strength to transmit the pulling force. Finally, after the completion of the production of the were shrinkage rate and tensile testing.

Pneumatic muscle at both ends of the joint installation installation location problems need to be considered, the first to the muscles of the human body each joint distribution research, thus based on the bionics of gas dynamic muscle at the same location distribution. In the installation position is determined and graphic analysis of revolute joints in the process, a gas dynamic muscle at both ends of the installation position and the distance change and get the maximum value and the minimum value, and the difference and gas dynamic muscle contraction rate of the minimum length of the pneumatic muscle. At the same time, the tension of the pneumatic muscle is obtained by the static analysis of the moment balance.. The installation of pneumatic muscle in each position, considering the location of the femur and tibia in the muscle installation can be more advantageous to the muscle installation and keep the accuracy of its direction.. The movement of each joint and the limb can generate the corresponding direction after the assembly is finished.

Key words: humanoid joint；freedom of joint；humanoid robot；pneumatic muscle

目 录

第一章 绪论 1

1.1研究背景 1

1.2国内外研究现状 1

1.3主要研究内容及章节安排 3

第二章 关节设计 4

2.1自由度配置 4

2.2结构设计 5

2.3方案论证 6

2.4本章小结 7

第三章 气动肌肉设计 8

3.1气动肌肉原理 8

3.2气动肌肉的研究现状 11

3.3气动肌肉制作 12

3.4特性测试 15

3.5本章小结 17

第四章 关节及气动肌肉安装与布局 18

4.1各个关节的安装 18

4.2气动肌肉安装位置 18

4.3气动肌肉的收缩与拉力计算 22

4.4气动肌肉的安装方法 27

4.5本章总结 28

第五章 设计结果与总结 30

致谢 31

参考文献 32

基于气动肌肉驱动的仿人关节结构设计与研制

第一章 绪论

1.1研究背景

现今的科学技术水平正在高速发展，对高科技的研究逐渐成为发展的首要内容。而高科技的众多分支中，机器人技术越来越受到更多的关注与重视。比尔盖茨说过：“机器人在未来会像电脑一样普及每个家庭”。现今普通的扫地机器人等等已经逐渐成熟，而另一种机器人——仿人机器人技术也日趋完善。

仿人机器人的外形与人类相似，他比普通机器人更灵活，更适合在正常条件下代替或协同人类工作。关节是机器人的基础部件，但也是机器人的关键部件之一，因为它的性能好坏与机器人的性能好坏直接相关，因而机器人研发的重要部分之一便是仿人机器人的关节研制。

1.2国内外研究现状

对仿人机器人的研究主要是基于仿生学的角度，以人体结构为基础，研究各个关节的自由度配置，质量分配，关节尺寸设计等。

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