| 气动柔性驱动器及其在灵巧手中的应用研究综述
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| 引用本文： | 张立彬,鲍官军,杨庆华,高峰.气动柔性驱动器及其在灵巧手中的应用研究综述
[J].中国机械工程,2008,19(23):0-2897. |
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| 作者姓名： | 张立彬 鲍官军 杨庆华 高峰 |
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| 作者单位： | 浙江工业大学机械制造及自动化教育部重点实验室,杭州310032 |
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| 摘 要： | 介绍了几种典型的气动柔性驱动器——McKibben型PMA、三自由度FMA、旋转型气动柔性驱动器、柔性流体驱动器和新型气动柔性驱动器FPA的研究现状，并对这5种气动柔性驱动器进行了深入的分析讨论，指出它们各自的优点和不足之处。综述了应用典型气动柔性驱动器研制的几种气动柔性灵巧手，分析了各灵巧手的特点；结合上述几种气动柔性灵巧手，对目前该领域研究中存在的急需解决的关键性问题进行了总结分析。
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| 关 键 词： | 气动柔性驱动器 多指灵巧手 数学模型 智能控制 |
Review on Flexible Pneumatic Actuator and Its Application in Dexterous Hand |
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| Abstract: | Current research statuses of several typical flexible pneumatic actuators were reviewed, such as McKibben PMA(pneumatic muscle actuator), 3-DOF FMA(flexible microactuator), pneumatic rotary soft actuator, flexible fluidic actuator and FPA(flexible pneumatic actuator). The five flexible pneumatic actuators were profoundly discussed and their virtues and disadvantages were pointed out. Several flexible pneumatic dexterous hands based on the flexible pneumatic actuators were described and their characteristics were summarized. Taking account of these flexible pneumatic dexterous hands, the key problems need to be resolved in this area were concluded. |
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| Keywords: | friction electric current applied friction coefficient carbon/copper |
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