一种气动柔性机械手工作的模型研究

Study on the Model of Pneumatic Flexible Manipulator Operation

提出一种波壳伸缩式的弯曲关节,及其构成的机械手。此关节采用板弹簧为柔性骨架,波壳弹性体受气压后轴向膨胀作为肌肉动力。文中给出了关节的结构,着重分析了气体压力与弯曲变形参数的静态模型。由此导出悬臂端在受力偶、法向力和一大小、方向不断变化的切向力的共同作用下,悬臂梁大挠度变形的数学模型,并采用网格与逐次逼近凑解法求得模型的数值解。

The paper introduces a pneumatic flexible bending joint, which can be applied to a manipulator. The joint uses the spring-beam as a flexible framework, and the expandable cylindrical bellows elastomers by air pressure are used as a muscle. The author presents structures of the joint, analyses the static model of joint-bending parameters with air pressure. A mathematical model has been derived that the large deflection of cantilever beam occurs jointly by a variable couple along with a changing tangential force over both the direction and scalar on cantilever ends. Its numerical solution has been explained by means of grid method and gradual approach trial count.