农业工程学报2012，Vol.28Issue(7)：19-26,8.DOI:10.3969/j.issn.1002-6819.2012.07.004
气动侧摆关节的动态特性
Dynamic characteristics of pneumatic side-sway joint
摘要
Abstract
Because of shortcomings of the existing pneumatic joints, side-sway joint driven by FPAs directly was proposed which could simulate swing movement of human hand. The operating principle of the side-sway joint finger was presented. According to the first law of thermodynamics, combined with dynamic equation of the joint, the dynamic model of the side-sway joint was established. Experiments were carried out to test the static and dynamic characteristics of the joint. There was certain error between experimental curve and theoretical curve, and the error cause was analyzed. Using a series dual loop control method, the output angle and output force of joint were controlled. The results showed: when expected output angle was 15°, the loop dynamic response time was about 0.3 s, and the steady-state relative deviation was less than 0.65%. Wnen expected output force was 188 N-mm, the loop dynamic response time was about 0.3 s, and the steady-state relative deviation was less than 1.5%. The side-sway joint can meet the requirement for designing multi-fingered dexterous hand joint.关键词
机器人/动力学模型/试验/侧摆关节/气动柔性驱动器FPA/机器人多指灵巧手Key words
robots/dynamic models/experiments/side-sway joint/flexible pneumatic actuator FPA/robot dexterous multi-fingered hand分类
信息技术与安全科学引用本文复制引用
王志恒,杨庆华,钱少明,鲍官军,张立彬..气动侧摆关节的动态特性[J].农业工程学报,2012,28(7):19-26,8.基金项目
国家高技术研究发展计划(863计划)资助项目(2009AA04Z209) （863计划）
国家自然科学基金资助项目(51075363) （51075363）
浙江省自然科学基金杰出青年团队资助项目(R1090674) （R1090674）
