气动柔性手腕结构设计与实验研究

doi:10.16039/j.cnki.cn22-1249.2021.11.014

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摘要

采用伸长型驱动器和球形制动器研制了一种气动柔性手腕。采用静力学实验的方法，分析了手腕端盖转角与气压关系，当气压值为0.34MPa时，手腕端盖转角为41°。采用理论与实验相结合的方法，分析了手腕制动器的力学特性，当气压值为0.4MPa时，制动器气囊轴向推力为107N，并得到了手腕制动力矩方程。

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	梁正
	武广斌
	王佩
	李名哲
	孙宇

关键词: 气动柔性手腕转角实验制动器

Abstract:

A pneumatic flexible wrist has been developed using an elongated actuator and a spherical brake. Using the method of statics experiments, the relationship between the rotation angle of the wrist end cap and the air pressure is analyzed. When the air pressure value is 0.34 MPa, the rotation angle of the wrist end cap is 41°. Using a combination of theory and experiment, the mechanical characteristics of the wrist brake are analyzed. When the air pressure value is 0.4MPa, the axial thrust of the brake airbag is 107N, and the wrist braking torque equation is obtained.

Key words: pneumatic flexibility wrist rotation angle experiment brake

出版日期: 2021-11-25 发布日期: 2021-11-25 整期出版日期: 2021-11-25

ZTFLH:

TP138.5

引用本文:

梁正, 武广斌, 王佩, 李名哲, 孙宇. 气动柔性手腕结构设计与实验研究 [J]. 吉林化工学院学报, 2021, 38(11): 67-70.
LIANG Zheng, WU Guangbin, WANG Pei, LI Mingzhe, SUN Yu. Design and Experimental Research of Pneumatic Flexible Wrist Structure . Journal of Jilin Institute of Chemical Technology, 2021, 38(11): 67-70.

链接本文:

http://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2021.11.014 或 http://xuebao.jlict.edu.cn/CN/Y2021/V38/I11/67

[1]	梁正, 武广斌. 气动柔性五指机械手运动空间与抓取实验研究 [J]. 吉林化工学院学报, 2021, 38(7): 85-90.

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