Research on Static Characteristics of Flexible Pneumatic Actuator FPA

摘要：

A new type of flexible pneumatic actuator, named FPA, was proposed by our researching group from Zhejiang University of Technology. Based on the established static model of FPA, the iso-force characteristic, isobaric characteristic and isometric characteristic are detailedly analyzed in this paper. The simulating results show that the iso-force and isobaric characteristic are nonlinear, while the isometric characteristic is linear. The stiffness of FPA increases when its output force increases, and also increases when the air pressure inside increases. The elastic modulus of FPA rubber tube, which was used in the static characteristics tests, was measured experimentally. In the air pressure and stretched length curve, there is a hysteresis, which is caused by the viscoelasticity of rubber- The experimental data basically agree with the theoretical curve, with a small discrepancy.

关键词： Flexible pneumatic actuator FPA Static characteristics Pneumatic muscle actuator

作者: Bao Guanjun Yang Qinghua Ruan Jian Zhang Libin

作者单位: The MOE Key Laboratory of Mechanical Manufacture and Automation, Zhejiang University of Technology Hangzhou, Zhejiang, 310032, China

会议类型: 国际会议

会议名称: The Fifth International Symposium on Fluid Power Transmission and Control(ISFP2007)（2007年国际流体动力传输与控制学术会议）

会议地点: 北戴河

会议语种:英文

页码: 997-1000

在线出版日期: 2007-06-06（万方平台首次上网日期，不代表论文的发表时间）