摘要
介绍了几种典型的气动柔性驱动器——McKibben型PMA、三自由度FMA、旋转型气动柔性驱动器、柔性流体驱动器和新型气动柔性驱动器FPA的研究现状,并对这5种气动柔性驱动器进行了深入的分析讨论,指出它们各自的优点和不足之处。综述了应用典型气动柔性驱动器研制的几种气动柔性灵巧手,分析了各灵巧手的特点;结合上述几种气动柔性灵巧手,对目前该领域研究中存在的急需解决的关键性问题进行了总结分析。
Current research statuses of several typical flexible pneumatic actuators were reviewed, such as McKibben PMA（pneumatic muscle actuator）, 3-D OF FMA（flexible microactuator）, pneumatic rotary soft actuator, flexible fluidic actuator and FPA（flexible pneumatic actuator）. The five flexible pneumatic actuators were profoundly discussed and their virtues and disadvantages were pointed out. Several flexible pneumatic dexterous hands based on the flexible pneumatic actuators were described and their characteristics were summarized. Taking account of these flexible pneumatic dexterous hands, the key problems need to be resolved in this area were concluded.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第23期2891-2897,共7页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50575206)
国家863高技术研究发展计划资助项目(2006AA10Z255)
浙江省重中之重学科"机械电子工程"资助项目
关键词
气动柔性驱动器
多指灵巧手
数学模型
智能控制
flexible pneumatic actuator
multi- fingered dexterous hand
mathematical model
intelligent control
