气动柔性扭转关节静态模型

张立彬  鲍官军  杨庆华  计时鸣

(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)

摘要：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。

关键词：气动柔性扭转关节  气动柔性驱动器  静态模型

中图分类号：TP242

国家自然科学基金(50575206)和浙江省自然科学基金(Y104358)资助项目。20070716收到初稿，20071210收到修改稿

作者简介：张立彬，男，1955年出生，博士，教授，博士研究生导师。主要研究方向为机器人及智能控制、工厂化农业装备等。
E-mail：robot@zjut.edu.cn; lbz@zjut.edu.cn

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