一种新型气动柔软关节的研制  

A New Kind of Pneumatic Soft Joint

作　　者：熊克凯[1] 韩建海[1] 

机构地区：[1]河南科技大学机电工程学院,洛阳471003

出　　处：《机床与液压》2006年第5期81-82,共2页Machine Tool & Hydraulics

基　　金：河南省自然科学基金资助项目(编号0311053400)

摘　　要：提出了一种新型的气动柔软关节,叙述了该柔软关节的结构组成、工作原理和试验特性,它可同时利用正负压驱动产生形变,能够实现伸缩和弯曲运动。试验证明该关节具有良好的控制性能,能较好地模拟人手腕关节的运动。A new kind of pneumatic soft joint was presented. It can expend and bend dexterously actuated by pressure and vacuum. A prototype of the model was manufactured, and an experiment system was built up. It is proved through the experiments that the joint is easy to be controlled and can simulate the movements of human＇ s wrist.

关 键 词：柔软 气动关节 压力控制 

分 类 号：TH138.51[机械工程—机械制造及自动化]