两气动方式绳牵引指关节主动伸展的动态差异

Dynamic Difference of Active Stretched Movement for Cable-driven Joint of Finger by Two Kinds of Pneumatic Pressure

机器人指关节采用气动驱动牵引绳,绳牵引力克服弹簧力而关节主动伸展,靠弹簧力作用而被动逆时针转动。给出关节角位移和气压之间的数学表达式,利用节流小孔完全壅塞时、通过气体的质量流量不变的原理,在气动和气-液串联复合两种驱动方式下,建立了关节角位移与时间变量之间的动态方程。根据示例,选择不同的系统参数,仿真并分析了这两种方式下的关节角位移、角速度、压力值的动态特性。

The cable-driven joint of finger is powered by pneumatics or tandem compound of pneumatics-hydraulics,in which active stretched rotation of joint against the force of spring is driven by cable and passive anticlockwise rotation is done by the spring.The mathematical expression between angular displacement of the joint and pressure was established.The dynamic model between angular displacement of the joint and time variable was proposed because the flux of mass was unchangeable when the throttle was utterly choked.The dynamic characteristics about angular displacement,angular velocity of joint and pressure in cylinder with different parameters by two sorts of pneumatic systems have been further simulated and analyzed from some demonstrations.