Dynamic characteristics of flexible pneumatic torsion joint

被引：0

作者：

Bao G. ^{[1
]}

Wang Z. ^{[1
]}

Yang Q. ^{[1
]}

Shao T. ^{[2
]}

Gao F. ^{[1
]}

Zhang L. ^{[1
]}

机构：

[1] Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology

[2] Engineering Training Center, China Jiliang University

来源：

Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery | 2010年 / 41卷 / 06期

关键词：

Dynamic characteristics; Flexible pneumatic actuator; Torsion joint;

D O I：

10.3969/j.issn.1000-1298.2010.06.040

中图分类号：

学科分类号：

摘要：

The kinetic model of flexible pneumatic torsion (FPA) joint was established based on equilibrium of moments, and the dynamic models for inflating and deflating process were built based on adiabatic gas conservation of energy. The influences of FPA initial shell-thickness, average radius, initial angle, and connector outlet area on the dynamic characteristics of torsion joint were analyzed. Simulation results showed that the initial shell-thickness, average radius and initial angle of FPA influenced both the turning-angle and dynamic process of torsion joint, while the connector outlet area had no effect on the turning-angle and dynamic process. Experimental results were close to that of simulation, which implied that the established model of flexible pneumatic torsion joint could fairly describe its dynamic process and characteristics.

引用

页码：204 / 207+226

共 3 条

[1] Zhang L., Bao G., Yang Q., Et al., Review on flexible pneumatic actuator and its application in dexterous hand, China Mechanical Engineering, 19, 23, pp. 2891-2897, (2008)
[2] Yang Q., Zhang L., Bao G., Research on novel flexible pneumatic actuator FPA, 2004 Proceedings of IEEE Conference on Robotics, Automation and Mechatronics, pp. 385-389, (2004)
[3] Zhang L., Bao G., Yang Q., Et al., Static model of flexible pneumatic torsion joint, Chinese Journal of Mechanical Engineering, 44, 7, pp. 134-138, (2008)

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