鲍官军,邵铁锋,李尚会,王志恒,杨庆华.气动柔性摆动关节静态模型[J].农业机械学报,2011,42(6):198-202,212.
Bao Guanjun,Shao Tiefeng,Li Shanghui,Wang Zhiheng,Yang Qinghua.Static Model of Flexible Pneumatic Swaying Joint[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(6):198-202,212.
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气动柔性摆动关节静态模型   [下载全文]
Static Model of Flexible Pneumatic Swaying Joint   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  摆动关节  气动柔性驱动器  静态模型
基金项目:国家高技术研究发展计划(863计划)资助项目(2009AA04Z209);浙江省自然科学基金资助项目(Y1080485);浙江省自然科学基金杰出青年团队项目(R1090674);浙江省机械电子工程重中之重学科开放基金资助项目(20090325)
作者单位
鲍官军 浙江工业大学 
邵铁锋 中国计量学院 
李尚会 浙江工业大学 
王志恒 浙江工业大学 
杨庆华 浙江工业大学 
中文摘要:提出了一种基于气动柔性驱动器(FPA)的摆动关节,该关节由左、右两个对称分布的弧形FPA并联而成,弧形FPA两个活动端与摆动关节的动平台固定连接,动平台可以绕着转动副摆动。改变两个弧形FPA的内腔气压,驱动左、右弧形FPA输出不同大小的转动角度,从而实现该关节的摆动运动。基于力矩平衡原理建立了摆动关节的静态模型,仿真分析表明摆动关节的转动角度与弧形FPA内腔气体压力基本呈线性关系,并且转动角度随初始角度、FPA平均半径、预拉伸角度的增大而增大,随FPA壁厚的增大而减小。实验结果表明所建立的数学模型能够描述摆动关节的静态特性。
Bao Guanjun  Shao Tiefeng  Li Shanghui  Wang Zhiheng  Yang Qinghua
Zhejiang University of Technology;China Jiliang University;Zhejiang University of Technology;Zhejiang University of Technology;Zhejiang University of Technology
Key Words:Swaying joint  Flexible pneumatic actuator  Static model
Abstract:A swaying joint was proposed based on the flexible pneumatic actuator (FPA), which was composed of two symmetrical and parallel-connected arc-shaped FPAs. The movable ends of arc-shaped FPAs were connected with the movable deck and the latter could sway around the revolving pair. By changing the air pressures inside the two arc-shaped FPAs, they would have turning angles with different sizes, which realized the swaying movement of the joint. The static model was established based on the equilibrium of moments. Simulation results showed that the turning angle of the swaying joint was basically linear with the air pressure inside the arc-shaped FPA. The turning angle increased with the initial angle, average radius of FPA and pre-stretching angle, and decreased with the shell thickness of FPA. Experimental results implied that the established mathematic model could basically describe the static characteristics of the swaying joint.

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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