气动式摆动柔性关节多状态下的模型与仿真

提出一种结构新颖的摆动柔性关节,给出了关节的基本结构,说明了气压传动的工作原理,确立了弯曲的弹性波壳内腔体积与弹性波壳整体弯曲角度之间的积分方程,结合受力分析,建立了关节角位移与弹性波壳内腔的压力间的数学表达式。在两种工作状况下,构造了关节角位移与时间量之间的动态模型,并进一步根据示例进行动态仿真和分析。

Modeling and Simulation of Wiggling Flexible Joint Driven by Pneumatic Pressure Under Multiple Conditions

We propose a wiggling flexible joint with novel structure and describe its structure and working principle of pneumatic transmission. Furthermore, we set up the integral equation between the bending angle of an elastomerie bellow and their inner cavum volume. In combination with load force analysis, we establish the mathematical expression between the angle displacement of the joint and the pressure inside the cavum of an elastomeric bellow. Under the two working conditions, we construct the dynamic model between the angle displacement of the joint and its time measure. The model is dynamically simulated and analyzed with a demonstrative instance.