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Kinematics analysis and experimental study on three-dimensional space bending flexible pneumatic arm
Advances in Mechanical Engineering ( IF 2.1 ) Pub Date : 2020-12-28 , DOI: 10.1177/1687814020985154
Liu Hongbo 1, 2 , Geng Dexu 2 , Li Junye 1
Affiliation  

A type of three-dimensional space bending flexible pneumatic arm employing axial elongation pneumatic artificial muscles was proposed. It was mainly composed of six pneumatic artificial muscles symmetrically distributed in parallel, and six artificial muscles were fixed 60° each other in space. The elastic skeleton was added among the arm to improve its rigidity and stability. Especially, the driving device of the arm was just the body of the arm. The arm has the advantages of simple structure, convenient manufacture, safety and flexibility, and it can achieve omnidirectional bending movement. According to the static characteristic and deformation of the arm, the kinematics model and the grasping force model of the arm were established. Further, the theoretical model was verified by experiments and then the relations between deforming properties, the working space, the grasping force and air pressure of the arm were obtained. The motion performance experiment of the arm was carried out in a laboratory environment. The experimental results show that the flexible arm has flexible movements, strong adaptive ability, simple control, and certain load capacity when bending.



中文翻译:

三维空间弯曲柔性气动臂的运动学分析与实验研究

提出了一种利用轴向伸长气动人造肌肉的三维空间弯曲柔性气动臂。它主要由六根平行并排对称​​分布的气动人造肌肉组成,六只人造肌肉在空间上相互固定60°。在手臂之间添加了弹性骨架,以提高其刚度和稳定性。特别地,手臂的驱动装置仅仅是手臂的身体。该臂结构简单,制造方便,安全灵活,可实现全向弯曲运动。根据手臂的静态特性和变形,建立了手臂的运动学模型和抓力模型。此外,通过实验验证了理论模型,然后确定了变形特性之间的关系,获得手臂的工作空间,抓握力和气压。手臂的运动性能实验是在实验室环境中进行的。实验结果表明,该柔性臂动作灵活,适应能力强,控制简单,弯曲时具有一定的承载能力。

更新日期:2020-12-28
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