中国机械工程
中國機械工程
중국궤계공정
CHINA MECHANICAl ENGINEERING
2014年
11期
1438-1442
,共5页
气动柔性驱动器%弯曲关节%三自由度手指%指端力模型
氣動柔性驅動器%彎麯關節%三自由度手指%指耑力模型
기동유성구동기%만곡관절%삼자유도수지%지단력모형
flexible pneumatic actuator(FPA)%bending joint%3-DOF finger%static model about fingertip force
三自由度手指由3个气动柔性弯曲关节串联而成，弯曲关节由气动柔性驱动器(FPA)驱动。关节驱动力矩的大小取决于各个关节FPA内腔中的压缩气体压力的大小。推导了手指运动学方程及力雅可比矩阵，分析了手指指端受力状况，建立了指端输出力与各个内腔气体压力增值之间的映射关系。对手指指端输出力进行了仿真研究和实验研究，实验结果与力模型结果基本吻合。
三自由度手指由3箇氣動柔性彎麯關節串聯而成，彎麯關節由氣動柔性驅動器(FPA)驅動。關節驅動力矩的大小取決于各箇關節FPA內腔中的壓縮氣體壓力的大小。推導瞭手指運動學方程及力雅可比矩陣，分析瞭手指指耑受力狀況，建立瞭指耑輸齣力與各箇內腔氣體壓力增值之間的映射關繫。對手指指耑輸齣力進行瞭倣真研究和實驗研究，實驗結果與力模型結果基本吻閤。
삼자유도수지유3개기동유성만곡관절천련이성，만곡관절유기동유성구동기(FPA)구동。관절구동력구적대소취결우각개관절FPA내강중적압축기체압력적대소。추도료수지운동학방정급력아가비구진，분석료수지지단수력상황，건립료지단수출력여각개내강기체압력증치지간적영사관계。대수지지단수출력진행료방진연구화실험연구，실험결과여력모형결과기본문합。
A 3-DOF finger consisted of three flexible pneumatic bending joints,the bending joint was driven directly by a FPA,the j oint torque was decided by the value of the compressed air in the FPA.The kinematics and Jacobin matrix of the finger were educed herein.The statics of the finger was analyzed,and then static model about fingertip force and the value of the pressured air in FPA was built.Experiments were carried out to verify the statics model.It is concluded from theoretical and experimental results that the experimental force value matches with the simulation force value ba-sically.
