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Load-dependent Variable Gearing Mechanism of muscle-like Soft Actuator

Journal of Bionic Engineering 2022年第1期19卷 29-43页

作者： Yingjie Wang Chunbao Liu Luquan Ren Lei Ren School of Mechanical and Aerospace Engineering Jilin UniversityChangchun130022China Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityChangchun130022China School of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterManchesterM139PLUK

pennate muscle is characterized by muscle fibers that are oriented at a certain angle(pennation angle)relative to the muscle’s line of action and rotation during *** fiber rotation amplifies the shortening velocity of muscle,to match loading conditions without any control *** unique variable gearing mechanism,which characterized by Architecture Gear Ratio(AGR),is involves complex interaction among three key elements:muscle fibers,connective tissue,and the pennation ***,how three elements determine the AGR of muscle-like actuator is still *** study introduces a Himisk actuator that arranges five contractile units at a certain pennation angle in a flexible matrix,the experiment and simulation results demonstrated that the proposed actuator could vary AGR automatically in response to variable loading *** on this actuator,we present a series of actuators by simulations with the varying pennation angle(P),elastic modulus of the flexible matrix(E),and number of contractile units(N)to analyze their effects on AGR,and their interaction by three-factor analysis of *** results demonstrated that P and N effect on the AGR significantly,while E effects on AGR slightly,which supported the idea that the P is the essential factor for the AGR,and N is also an important factor due to the capability of force *** provides a better understanding of mechanical behavior and an effective optimizing strategy to muscle-like soft actuator.

关键词： Bioinspired Actuator pennate muscle Gearing mechanism

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