双驱动型单向弯曲柔性关节弯曲特性

针对气动柔性关节在低气压下弯曲角度受限的问题,采用两个人工肌肉作为动力源进行驱动,设计了一种新型气动柔性关节.该关节由两个人工肌肉并联而成,具有1个自由度,能实现较大的弯曲变形.给出了关节的结构功能和工作原理,基于力/力矩平衡原理分析关节的弯曲特性,搭建试验系统研究关节的弯曲角度.理论分析和试验结果表明:双驱动型单向弯曲关节在低气压下也能实现较大的弯曲角度,关节的弯曲角度与气压呈非线性关系,且随关节结构参数的改变而改变.

Bending Characteristics of Single Bending Flexible Joint with Dual Drive

Aiming at the bending angle limit of existing pneumatic flexible bending joints at low pressure,a new type of pneumatic bending joint with two artificial muscles as its drive source is designed. This joint is equivalent to two independent artificial muscles to be connected in parallel. It has one degree of freedom and can complete greater bending deformation. The working principle of the structure and function of the joint are given. Then the static characteristics of deformation of the joint are analyzed based on the force and moment equilibrium principle. Furthermore,the experimental system is constructed. Theoretical analysis and experimental results show that the larger bending angle of the joint can be acquired at lower pressure. Also,the bending angle of the joint is nonlinear with the air pressure and it changes with the structure parameters.