充气伸长型气动柔性驱动器的动态特性研究  

Study of Dynamic Characteristic of Elongation Type Pneumatic Compliance Actuator

作　　者：高帅[1] 滕燕[1] 李小宁[1] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械制造与自动化》2015年第5期209-211,215,共4页Machine Building & Automation

基　　金：国家自然科学基金(510752131)

摘　　要：研究建立了充气伸长型气动柔性驱动器的静动态数学模型,并进行了试验研究。结果表明:气动柔性驱动器充气阶段腔内压力的平稳性受惯性负载和外力负载的影响,惯性负载和外力负载越大,压力平稳性越差。外力负载是影响气动柔性驱动器位移输出的主要因素,外力负载越大,位移越小。研究结果为气动柔性驱动器的控制提供了理论依据。In this paper, the static and dynamic mathematical model of elongation type pneumatic compliance actuator is developed, and experimental study is made. The experimental result shows that the pressure stability of pneumatic compliance actuator is affected by inertia loads and external forces, and the larger the inertia loads and external forces are, the worse the pressure stability is. The external force is the main factor affecting the displacement of pneumatic compliance actuator, and the larger external load has the small influence on the displacement. The study results lay the theoretical foundation for the control of elongation type pneumatic compliance actuator.

关 键 词：气动柔性驱动器 动态特性 动态模型 

分 类 号：TH138[机械工程—机械制造及自动化]