基于气动柔性驱动器的三自由度手指指端输出力特牲研究  

Research on Fingertip Output Force Characteristics of 3-DOF Finger Based on FPA

作　　者：钱少明[1] 王志恒[2] 杨庆华[2] 

机构地区：[1]浙江工业大学之江学院,杭州310024 [2]浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室,杭州310014

出　　处：《中国机械工程》2014年第11期1438-1442,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51075363);中国博士后科学基金资助项目(2012M511385);浙江省自然科学基金杰出青年团队资助项目(R1090674)

摘　　要：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。A 3-DOF finger consisted of three flexible pneumatic bending joints, the bending joint was driven directly by a FPA, the joint 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 basically.

关 键 词：气动柔性驱动器 弯曲关节 三自由度手指 指端力模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]