板弹簧柔性手指关节弯曲的模型研究  

Study on the Bending Model of Pneumatic Flexible Finger Joints of Spring-beam

作　　者：章军 须文波[2] 范本隽 

机构地区：[1]江南大学机械工程学院,无锡214063 [2]江南大学信息工程学院,无锡214063

出　　处：《机械设计与研究》2005年第1期53-55,共3页Machine Design And Research

摘　　要：提出一种波壳伸缩的手指关节,多关节的手指可组合成操作机械手。此关节采用板弹簧为柔性骨架,波壳弹性体受气压后轴向膨胀作为肌肉动力,关节的弯曲角度与弹性体内腔的气体压力有关。给出了关节的结构,介绍了手指关节的气动原理与控制方法,并分析了关节弯曲变形的静态模型。由此得出在受一大小变化的力偶和一大小、方向不断变化的切向力的共同作用下,悬臂梁大挠度变形的数学模型与数值解。In this paper the pneumatic flexible finger joint is introduced, which can be applied to manipulator. For the joint, the spring-beam is used as a flexible framework, and the expandable cylindrical elastomer bellows by air pressure is used as muscle. The bending angle of the joint is related to the intensity of air pressure in it. The joint can cushion impact because of its flexibility and elasticity. In this paper the structure of the joint is presented, the principle of pneumatics and method of control are described and the static bending model of the joint is analyzed. In fact the model and its numerical solution have explained that the large deflection of cantilever beam happened synchronously by a variable couple along with a tangential force of changing over both the direction and scalar on cantilever end.

关 键 词：柔性手指关节 波壳弹性体 板弹簧 悬臂梁 气动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]