气动柔性扭转关节静态模型

基于气动柔性驱动器(Flexible pneumatic actuator, FPA)研制一种气动柔性扭转关节，该关节主要由两个弧形的FPA组成，向这两个FPA充入压缩气体，关节转过一定的角度。分析扭转关节中FPA壁厚变化规律，对单个FPA的自由端进行力矩平衡分析，建立该关节的静态模型，构建试验系统对气动柔性扭转关节进行压力转角关系试验。试验结果与仿真曲线存在一定误差，分析影响扭转关节静态模型准确性的因素，并根据试验结果对扭转关节的数学模型进行修正，得到的修正模型能够较好地描述关节的充气过程和放气过程。

Static Model of Flexible Pneumatic Torsion Joint

Based on flexible pneumatic actuator (FPA), a type of flexible pneumatic torsion joint is proposed. The torsion joint is composed of two arcual FPAs. When inflating the two FPAs with compressed air, the torsion joint turns with an angle. The variety of the shell thickness of FPA is analyzed and the moment equilibrium equation of the FPA free end is established. Hence the static model of torsion joint is obtained. Experimental system is constructed to measure the air pressure and turning-angle relationship of the torsion joint. There is certain error between the experimental result and the simulated curve. The factors affecting the static model are also analyzed and the mathematic model of torsion joint is modified based on the experimental results. The modified model can better describe the inflating process and deflating process of the torsion joint.