鲍官军,王志恒,杨庆华,邵铁锋,高峰,张立彬.气动柔性扭转关节动态特性研究[J].农业机械学报,2010,41(6):204-207.
.of Flexible Pneumatic Torsion Joint[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(6):204-207.
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气动柔性扭转关节动态特性研究   [下载全文]
of Flexible Pneumatic Torsion Joint   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  扭转关节  气动柔性驱动器  动态特性
基金项目:
鲍官军  王志恒  杨庆华  邵铁锋  高峰  张立彬
浙江工业大学
中文摘要:基于力矩平衡原理建立了气动柔性扭转关节的基本动力学模型,基于绝热气体能量守恒方程建立了扭转关节FPA的充放气动态模型。分析了FPA初始壁厚、FPA平均半径、FPA初始角度、管接头出口面积等参数对扭转关节动态特性的影响。仿真结果表明:FPA初始壁厚、平均半径和初始角度对扭转关节转角和动态过程的影响较大,管接头出口面积对扭转关节转角和动态过程没有影响。实验结果与仿真分析基本吻合,表明建立的气动柔性扭转关节模型能够准确地描述其动态过程及特性。
Key Words:
Abstract:The kinetic model of flexible pneumatic torsion (FPA) joint was established based on equilibrium of moments, and the dynamic models for inflating and deflating process were built based on adiabatic gas conservation of energy. The influences of FPA initial shell-thickness, average radius, initial angle, and connector outlet area on the dynamic characteristics of torsion joint were analyzed. Simulation results showed that the initial shell-thickness, average radius and initial angle of FPA influenced both the turning-angle and dynamic process of torsion joint, while the connector outlet area had no effect on the turning-angle and dynamic process. Experimental results were close to that of simulation, which implied that the established model of flexible pneumatic torsion joint could fairly describe its dynamic process and characteristics. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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