气动空间弯曲柔性关节静力学实验研究

Experimental Study on Pneumatic Space Bending Flexible Joint

介绍了一种自主研发的新型关节,该关节主要有弹性气囊和约束元件组成,驱动装置和关节本体复合成一体结构,相当于三个人工肌肉并联,具有三个自由度,能够实现轴向伸长和空间任意方向的弯曲.对关节的轴向伸长和平面弯曲进行了实验研究,得到了关节变形特性曲线,为以后的进一步研究与应用奠定了基础.

In this paper,we develop a new type pneumatic space bending flexible joint,which are mainly composed of elastic rubber tube and constrain components.The joint is equivalent to three artificial muscle connected in parallel,which has three degrees of freedom.The joint can elongate in axial direction and bend arbitrarily in space when supplied the air pressure.The axial elongation and space bending of the joint has been done by the experimental device and the relationship deformation of joint and air pressure is required.The study of this paper laid the foundation for further application of the joint.