| Human beings are one of the most miraculous species created by nature.He can complete many delicate operations and achieve a variety of complex actions.And behind these complicated exercises,there are more or less shadows of muscles.As the driver of the human body,muscle not only has the advantages of high efficiency,flexibility,lightness,etc.,but also can produce large contraction displacement and driving force.It is one of the "most excellent drivers" created by nature.Based on the advantages of human muscles,this article conducts in-depth research and analysis on human muscles,and designs a bionic hydraulic actuator based on the rectus femoris as a prototype.Through simulation analysis and experimental testing,the static mechanical characteristics and dynamic mechanical characteristics of the drive are studied,and the factors that affect the mechanical characteristics of the drive are analyzed.The main research work and related conclusions obtained are as follows:(1)The human muscle is classified to understand respective functions of different types of muscles and skeletal muscle can be controlled by the human body is selected as key subject and structure,component and driving principles of skeletal muscles are also analyzed.On this basis,the author has a comprehensive understanding of the biomechanical model of skeletal muscle,and gets the design inspiration from Hill's three-element model,and proposes three elements of the software driver based on human skeletal muscle as the bionic object.(2)The rectus femoris muscle of the human thigh is selected as the bionic object,and the detailed arrangement of the muscle fibers inside the rectus femoris muscle is obtained through the Aixplorer high-frequency ultrasound test.On this basis,combined with the shape of the connective tissue of the rectus femoris muscle and its relationship with muscle fibers,a new type of bionic hydraulic actuator was designed.The design work includes the overall structure design of the drive and the sealing design of the drive unit.According to the test,the maximum bearing pressure of the driver can reach1.4MPa,which demonstrates the rationality of the driver's sealing design.At the same time,the traditional casting method is combined with 3D printing technology to prepare the physical model of the designed new bionic hydraulic software driver.(3)Through ABAQUS finite element analysis,the motion characteristics of the drive unit are simulated.Then the drive unit is tested and compared with the simulation results to verify the correctness of the simulation method.After that,the driver can be further simulated to study the mechanical characteristics of the driver under different driving pressures and demonstrate the rationality of the driver design.(4)According to the mechanical characteristics of the drive required to be tested,the hydraulic test bench and the pneumatic test bench for the test are designed respectively,and the construction work is completed.(5)Perform hydraulic test and pneumatic test on the software driver respectively,and collect and process the data obtained from the test.Through the test,it is found that the maximum driving load of the driver can reach 31 kg,reaching the driving level of human muscles.And the study found that the static mechanical properties of the drive are mainly determined by its structure and the materials used.When the transmission medium changes,the static performance of the drive does not change much.However,due to the low pressure of the commonly used air compressor,the performance of the driver cannot be fully utilized,and the working pressure range of the hydraulic system is relatively large,which is more conducive to showing the potential performance of the driver.The dynamic mechanical characteristics of the drive are affected by the transmission medium,which is mainly manifested in that the drive has better dynamic stability and dynamic response when it is hydraulically driven.Therefore,the hydraulic software driver has better static and dynamic mechanical characteristics. |
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