摘要
提出一种结构新颖的、弹性波壳伸缩的缓冲性手指关节,关节具有缓冲性好的特点,多关节可组合成操作机械手。文中给出了关节的基本结构和工作原理,结合受力分析,建立了关节角位移与弹性波壳内腔的气体压力之间关系的数学表达式与静力分析算法,同时确立了关节角位移的动态模型,并进一步根据示例进行静态分析与动态仿真。
This paper presents a pneumatic flexible finger joint in which the elastomeric bellows are flexible because of air pressure. Manipulators are made of these original joints for their better cushion. The principle and structure of the joint are described. The static analysis algorithm and mathematical expressions for the relationship between the angle displacement of the joint and the air pressure in elastomeric bellows are established. The dynamic model for angle displacement is also established. Moreover, static analysis and dynamic simulation are carried out according to an instance.
出处
《机械科学与技术》
CSCD
北大核心
2006年第7期860-864,共5页
Mechanical Science and Technology for Aerospace Engineering
关键词
缓冲性手指关节
机械手
弹性波壳
动态仿真
flexible finger joint
manipulator
clastomeric bellow
dynamic simulation
