摘要
本文介绍了气动柔性关节的结构和工作原理,该关节利用气压驱动实现轴向伸长和弯曲变形.对关节进行了力(矩)平衡分析,建立了压力与关节伸长和端面转角之间的数学关系.搭建了试验系统,对关节进行了压力与伸长量及转角的关系实验.引入了修正系数,修正好的模型能较好的反映关节的运动过程.
This paper introduces the structure and working principle of flexible joint.lt uses compressed air to drive the deformation,which can realize axial elongation and bending deformation.On the joint force （torque） balance analysis, the mathematical relationship between the elongation and transverse corner is established. Experimental system is constructed to measure the air pressure and scaling and turning-angle relationship of the joint.The modified model can better reflect the process of movement after introducing a correction factor.
出处
《吉林化工学院学报》
CAS
2017年第1期32-35,共4页
Journal of Jilin Institute of Chemical Technology
基金
吉林省教育厅"十二五"科学技术研究资助项目(20150158)
关键词
气动柔性关节
气压驱动
轴向伸长
弯曲变形
^pneumatic flexible joint
pneumatic drive
axial elongation
bending deformation
