气动柔性扭转关节动态特性研究

Dynamic Characteristics of Flexible Pneumatic Torsion Joint

基于力矩平衡原理建立了气动柔性扭转关节的基本动力学模型,基于绝热气体能量守恒方程建立了扭转关节FPA的充放气动态模型。分析了FPA初始壁厚、FPA平均半径、FPA初始角度、管接头出口面积等参数对扭转关节动态特性的影响。仿真结果表明:FPA初始壁厚、平均半径和初始角度对扭转关节转角和动态过程的影响较大,管接头出口面积对扭转关节转角和动态过程没有影响。实验结果与仿真分析基本吻合,表明建立的气动柔性扭转关节模型能够准确地描述其动态过程及特性。

The kinetic model of flexible pneumatic torsion（FPA） joint was established based on equilibrium of moments,and the dynamic models for inflating and deflating process were built based on adiabatic gas conservation of energy.The influences of FPA initial shell-thickness,average radius,initial angle,and connector outlet area on the dynamic characteristics of torsion joint were analyzed.Simulation results showed that the initial shell-thickness,average radius and initial angle of FPA influenced both the turning-angle and dynamic process of torsion joint,while the connector outlet area had no effect on the turning-angle and dynamic process.Experimental results were close to that of simulation,which implied that the established model of flexible pneumatic torsion joint could fairly describe its dynamic process and characteristics.