科创中国

原文链接：万方

• 作者：

  SHAO Tiefeng,ZHANG Libin,BAO Guanjun,LUO Xinyuan,YANG Qinghua

• 摘要：

  Several typical flexible pneumatic actuators(FPA) and different mechanical models describing their behaviors have been proposed, however, it is difficult to balance compliance and load capacity in conventional designs, and these models still have limitations in predicting behavior of FPAs. A new flexible pneumatic bending joint(FPBJ) with special anisotropic rigidity structure is proposed. The FPBJ is developed as an improvement with regard to existing types of FPA, and its principal characteristic is derived from the special anisotropic rigidity structure. With this structure, the load capacity in the direction perpendicular to bending plane is strengthened. The structure of the new FPBJ is explained and a mathematical model is derived based on Euler-Bernoulli beam model and Hook's law. To obtain optimum design and usage, some key structure parameters and input-output characteristics are simulated. The simulation results reveal that the relationship between the structure parameters and FPBJ's bending angle is nonlinear. At last, according to the simulation results, the FPBJ is manufactured with optional parameters and tested. The experimental results show that the joint's statics characteristics are reflected by the mathematical model accurately when the FPBJ is deflated. The maximum relative error between simulation and experimental results is less than 6%. However, the model still has limitations. When the joint is inflated, the maximum relative error reaches 20%. This paper proposes a new flexible pneumatic bending joint which has sufficient load capacity and compliance, and the mathematical model provides theoretical guidance for the FPBJ's structure design.

• 关键词：

  flexible pneumatic bending joint Euler-Bernoulli model Hook's law mathematical model

• 作者单位：

  Key Laboratory of E&M, Ministry of Education & Zhejiang Province, Zhejiang University of Technology%Engineering Training Center,China Jiliang University

• 基金项目：

  Supported by National Natural Science Foundation of China (Grant No.51075363)%Zhejiang Provincial Natural Science Outstanding Youth Team Foundation of China (Grant No.R1090674)%Zhejiang Provincial Natural Science Foundation of China (Grant No.LY12E05022)%Open Fund of Key Laboratory of E&M (Zhejiang University of Technology),Ministry of Education & Zhejiang Province of China (Grant No.2009EP026)

• 来源期刊：

  中国机械工程学报(英文版)

• 年，卷(期)：

  2014006