The Design And Driving Test Of Antagonist Water Hydraulic Artificial Muscles Mechanical Joint

In the21st century, there is growing emphasis on the development of the oceans. The underwater robot is an indispensable tool for marine development. It can replace human to explore the oceans. The Underwater Manipulator is one of the key technologies. Now, the drive of the Underwater Manipulator is hydraulic cylinder or hydraulic motor. Although the technology is relatively mature, there are still some problems, such as piston corrupted by water, environmental pollution. Therefore people think of the idea of applying Water Hydraulic Muscle to drive joint of the Underwater Manipulator.The paper analyzes the importance of underwater robots and some shortcomings of its existence. And propose the significance of study hydraulic artificial muscles. Compared with conventional drives, hydraulic artificial muscles have the advantages of high output power, fast response, high efficiency, compatible with the underwater environment. The research situations of the Pneumatic artificial muscles and the WHM have been studied and propose the main content of this paper. With the current equipment in laboratory, we do the inertial load dynamic test, pressure test and repeatability test of the water hydraulic muscle. Through the test obtain the output characteristics of water hydraulic muscle. According to the functional requirements of mechanical joints and the output force characteristics of the hydraulic artificial muscle, design the mechanical joints and determine the size of each part, and check the strength of important parts. And through the static and dynamic angle experimental, obtain the output characteristics of mechanical joint.