气动柔性球关节的位姿测量系统研究

Research on Position and Orientation Measurement of Flexible Pneumatic Spherical Joint

基于新型气动人工肌肉提出了一种气动柔性球关节,介绍了气动柔性球关节的结构原理;重点讨论了针对该球关节的位姿测量系统原理及位姿计算方法;给出了实验结果并进行分析,表明设计的位姿测量系统是准确适用的。

Based on the new pneumatic muscle, a flexible pneumatic spherical joint is proposed. Its structure and principle are introduced. The position and orientation measurement system and the calculating method of the joint are described. Experimental results are supplied and analyzed. It is indicated that the position and orientation measurement system is suitable and feasible.