气动空间弯曲柔性关节静力学实验研究

doi:10.16039/j.cnki.cn22-1249.2018.03.009

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摘要介绍了一种自主研发的新型关节，该关节主要有弹性气囊和约束元件组成，驱动装置和关节本体
复合成一体结构，相当于三个人工肌肉并联，具有三个自由度，能够实现轴向伸长和空间任意方向的弯
曲．对关节的轴向伸长和平面弯曲进行了实验研究，得到了关节变形特性曲线，为以后的进一步研究与
应用奠定了基础．

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	刘洪波
	刘齐

关键词: 柔性关节轴向伸长弯曲变形

Abstract: In this paper， we develop a new type pneumatic space bending flexible joint， which are mainly
composed of elastic rubber tube and constrain components． The joint is equivalent to three artificial muscle
connected in parallel，which has three degrees of freedom．The joint can elongate in axial direction and bend
arbitrarily in space when supplied the air pressure．The axial elongation and space bending of the joint has been
done by the experimental device and the relationship deformation of joint and air pressure is required．The study
of this paper laid the foundation for further application of the joint．

Key words: flexible joint axis elongation bending deformation

出版日期: 2018-03-25 发布日期: 2018-03-25 整期出版日期: 2018-03-25

ZTFLH:

TH 138.5

引用本文:

刘洪波, 刘齐. 气动空间弯曲柔性关节静力学实验研究[J]. 吉林化工学院学报, 2018, 35(3): 36-39.
LIU Hong-bo, LIU Qi. Experimental Study on Pneumatic Space Bending Flexible Joint. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 36-39.

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http://jlictxuebao.cn/CN/10.16039/j.cnki.cn22-1249.2018.03.009 或 http://jlictxuebao.cn/CN/Y2018/V35/I3/36

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