气动柔性关节的抓取机械手的受力分析

文章提出一种基于弹性波壳伸缩的柔性手指关节，介绍了关节的工作原理，设计了关节的结构、及其抓取机械手。结合受力分析，建立了关节弯曲的角度与弹性波壳内腔的气体压力之间关系的数学表达式与静力分析算法，讨论了关节结构尺寸与临界角度的关系，得出了抓取机械手的抓取力和弹性波壳内腔的气体压力之间数学公式，并进一步根据该模型给出了计算分析示例。柔性关节在结构较为新颖，具有缓冲性好、动作灵敏等特点，适宜用作机器人的末端抓持机构。

Mechanical Analysis of Pneumatic Flexible Joint of Grabbing Manipulator

In this paper the pneumatics flexible finger joint is introduced, in which elastomeric bellows is driven by air pressure. The principle and structure of the joint are described, so as the manipulator structure made of the joint. The mathematic expression and static arithmetic are established according to analysis of force, between angle displacement of the joint and air pressure inside the bellows. The connection between joint structure dimension and critical angle displacement inside the bellows is discussed, and the function is given between grasp force and air pressure inside the bellows. Analysis and calculation is finally demonstrated from an exemplification. The terminal manipulator can be befittingly made of this original joint for its better cushion and agility.