Dynamic Characteristic Analysis of New Pneumatic Bending Joint

摘要：

　　Aimed at existing problems on the bending performance of pneumatic bending joint,a new type of pneumatic bending joint is proposed in this paper.Double flexible pneumatic actuators are used as actuating drivers.Based on the first law of thermodynamics and the joint dynamic equation,the angle dynamic model is established and analyzed.Moreover simplified model is proposed.Meanwhile,its dynamic characteristic is analyzed through simulation analysis.The simulation suggests the following results:in the gas-filled phase,the joints pressure response time is about 10ms; while it is about 60ms in the gas-escape phase; and the angle response time of joint is 10 to 20ms.When the joint damping coefficient is increasing,this value will also increase.

关键词： Flexible pneumatic actuator (FPA) Bending joint Characteristic analysis Dynamic model

作者: HUANG Pengcheng YANG Qinghua BAO Guanjun ZHANG Libin

作者单位: Key Laboratory of E&M(Zhejiang University of Technology), Ministry of Education & Zhejiang Province, Hangzhou, 310032, China

会议类型: 国际会议

会议名称: 3rd International Conference on Frontiers of Manufacturing and Design Science(第三届制造与设计科学前沿国际会议(ICFMD))

会议地点: 香港

会议语种:英文

页码: 1742-1749

在线出版日期: 2012-12-11（万方平台首次上网日期，不代表论文的发表时间）