气动柔性摆动关节静态模型

Static Model of Flexible Pneumatic Swaying Joint

提出了一种基于气动柔性驱动器(FPA)的摆动关节,该关节由左、右两个对称分布的弧形FPA并联而成,弧形FPA两个活动端与摆动关节的动平台固定连接,动平台可以绕着转动副摆动。改变两个弧形FPA的内腔气压,驱动左、右弧形FPA输出不同大小的转动角度,从而实现该关节的摆动运动。基于力矩平衡原理建立了摆动关节的静态模型,仿真分析表明摆动关节的转动角度与弧形FPA内腔气体压力基本呈线性关系,并且转动角度随初始角度、FPA平均半径、预拉伸角度的增大而增大,随FPA壁厚的增大而减小。实验结果表明所建立的数学模型能够描述摆动关节的静态特性。

A swaying joint was proposed based on the flexible pneumatic actuator（FPA）,which was composed of two symmetrical and parallel-connected arc-shaped FPAs.The movable ends of arc-shaped FPAs were connected with the movable deck and the latter could sway around the revolving pair.By changing the air pressures inside the two arc-shaped FPAs,they would have turning angles with different sizes,which realized the swaying movement of the joint.The static model was established based on the equilibrium of moments.Simulation results showed that the turning angle of the swaying joint was basically linear with the air pressure inside the arc-shaped FPA.The turning angle increased with the initial angle,average radius of FPA and pre-stretching angle,and decreased with the shell thickness of FPA.Experimental results implied that the established mathematic model could basically describe the static characteristics of the swaying joint.