基于多物理场耦合的气动人工肌肉结构参数影响与性能分析OA

As a core component of typical soft drive systems,the pneumatic muscle actuator exhibits broad application prospects while its performance influenced by multi-physical field coupling and geometric structure.From thermodynamics and dynamics perspectives,based on the adiabatic system assumption,ideal gas state equation,geometric constraints,and mechanical equilibrium conditions,a coupled model is established to systematically investigate the working mechanism and influencing factors of pneumatic muscle actuator.The model reveals the intrinsic relationship between internal pressure changes and axial contraction motion of the pneumatic muscle actuator.An experimental device centered on an airbag-braided mesh assembly is designed.By controlling parameters such as initial diameter,initial length,airbag shape,and braided mesh structure,combined with numerical simulation,the model is validated.Results show that increasing initial diameter,extending initial length,or adopting a strip-like airbag shape significantly enhances contraction capacity and air intake,but leads to delayed response time and reduced dynamic response performance.Numerical simulation results from the theoretical model show good consistency with experimental trends and key parameters,confirming the model's validity.This provides a theoretical basis for structural optimization and engineering application of pneumatic muscle actuator.