新型柔性气动执行器FPA的研究

IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI:10.1109/RAMECH.2004.1438950

Qinghua Yang, Libin Zhang, G. Bao, Sheng Xu, J. Ruan

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引用次数: 32

摘要

提出了一种新型的柔性气动执行器FPA。介绍了FPA的结构和性能。在此基础上，开发了气动柔性弯曲接头、气动柔性扭转接头和气动柔性球面接头。建立了气动柔性弯曲关节和气动柔性球面关节的数学模型。利用智能控制技术对这两种关节的特性进行了实验研究。实验结果表明，气动柔性弯曲接头和气动柔性球面接头能够满足设计的应用要求。最后，展望了今后工作的目标和方向。

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Research on novel flexible pneumatic actuator FPA

A novel flexible pneumatic actuator FPA is proposed in this paper. The structure and properties of FPA are described. Based on FPA, flexible pneumatic bending joint, flexible pneumatic torsion joint and flexible pneumatic spherical joint are developed. The mathematical models of flexible pneumatic bending joint and flexible pneumatic spherical joint are established. Experiments are carried out to investigate the characteristics of these two joints by utilizing intelligent control techniques. Experimental results demonstrate that flexible pneumatic bending joint and flexible pneumatic spherical joint can meet the designed requirement of application. Finally, the aim and direction of the future work are forecasted.

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来源期刊

IEEE Conference on Robotics, Automation and Mechatronics, 2004.

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