中文摘要：

在仿生的机器人使用的灵活致动器的灵魂肌肉(下午) 是最近的研究的一个活跃区域。有形状记忆合金(SMA ) 的一位新奇首相编织了袖子在这篇论文被建议，并且 SMA 被用来改进下午工作特征。基于虚拟工作的原则，有编织电线的下午和关系的产量力量模型内部压力被建立，并且下午变丑的分析证明了那编织电线长度是产量力量的关键因素特征。基于水晶结构转变，有电线收缩的温度的关系被导出。然后，新奇下午的合成动力学被建立。有 SMA 的下午的一个物理原型编织了袖子被发展，并且测试为实验被造的站台。静态的等轴长度的、静态的等压压力、动态的特征的实验和模拟测试被做。试验性的结果与理论模型的模拟相比。而且基于实验，产量力量的模型被增加一个修正因素处理橡胶试管的有弹性的力量改进。结果分析证明确定的模型是正确的，并且 SMA 电线能增强下午并且使下午工作成为特征可调节。下午在这建议纸有更大的输出力量并且是有益的完成为操作易碎的事情是有用的更精确的控制。

英文摘要：

Pneumatic muscle （PM） of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy （SMA） braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things.