纯水液压人工肌肉驱动系统的动态特性研究

摘要

将液压仿生人工肌肉系统作为一种液压传动控制系统,同时将液压仿生人工肌肉视为变截面积液压缸,在液压缸动态特性方程的基础上推导出描述液压仿生人工肌肉驱动系统动态特性的非线性数学模型,并用计算机仿真分析该系统的动态工作特性,为该系统动态特性的实验研究奠定基础.%Taking the water hydraulic muscle ( WHM ) system as a hydraulic drive control system meanwhile regarding WHM as a variable cross-section cylinder, a nonlinear mathematic model describing the dynamic characteristics of WHM system was derived.The simulation analysis of the dynamic characteristics was carried out by computer. All those provide theoretical foundation for cxperimental study on the dynamic characteristics of WHM.