LINEAR ELECTROMAGNETIC ARRAY ARTIFICIAL MUSCLE DESIGN AND SIMULATION FOR A QUADRUPED ROBOT

摘要

A linear electromagnetic array-type artificial muscle structure and its biological neural control model are proposed to improve the multiped robot driving performance. From the standpoint of engineering bionics, based on the microstructure of skeletal muscle, the simplified array mode of skeletal muscle and the linear electromagnetic array artificial muscle are proposed. And in order to calculate the output force displacement performance of the artificial muscle actuator, an artificial muscle nerve stimulation conduction control mode is designed by simulating the biological neural control model. Taking a quadruped robot as the application object, the dynamic characteristics of the artificial muscle are simulated and successfully verified.