Study on Bidirectional Controllable Flexible Bending Joints based on Elongation Artificial Muscles

摘要：

　　Flexible joint plays an important role in compliant motion of robot and bionic function and so on.We developed a new type bidirectional controllable flexible bending joint based on elongation artificial muscles,and which can axial elongate and bend two-dimensional two-way control in space.Furthermore,we had theoretical and experimental analysis on both axial elongation and bending deformation of joint,and get the pressure-elongation relationship and bending moment-angle properties.And this study could be valuable for the dynamic analysis and motion accuracy control of the robots driven by this type flexible joint.

关键词： Flexible joint Artificial muscle Axial elongation Bending deformation

作者: Dexu Geng Ji Zhao Lei Zhang Yunwei Zhao

作者单位: College of Mechanical Science and Engineering, Jilin University, Changchun, 130022, China ;Engineeri College of Mechanical Science and Engineering, Jilin University, Changchun, 130022, China

会议类型: 国际会议

会议名称: the 2010 International Conference on Frontiers of Manufacturing and Design Science(第一届制造与设计科学国际会议(ICFMD 2010))

会议地点: 重庆

会议语种:英文

页码: 2877-2882

在线出版日期: 2010-12-11（万方平台首次上网日期，不代表论文的发表时间）