[1]滕燕,杨罡,李小宁,等.推力大行程气动柔性驱动器及其特性[J].南京理工大学学报(自然科学版),2011,(04):502-506.
 TENG Yan,YANG Gang,LI Xiao-ning,et al.Development and Characteristics of Pneumatic Compliant Actuator with Thrust Force and Large Stroke Output[J].Journal of Nanjing University of Science and Technology,2011,(04):502-506.
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推力大行程气动柔性驱动器及其特性
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2011年04期
页码:
502-506
栏目:
出版日期:
2011-08-31

文章信息/Info

Title:
Development and Characteristics of Pneumatic Compliant Actuator with Thrust Force and Large Stroke Output
作者:
滕燕杨罡李小宁黄新燕
南京理工大学机械工程学院,江苏南京210094
Author(s):
TENG YanYANG GangLI Xiao-ningHUANG Xin-yan
School of Mechanical Engineering,NUST,Nanjing 210094,China
关键词:
气动 驱动器 柔性 推力
Keywords:
pneumatics actuators compliance thrust
分类号:
TH138
摘要:
由于Mckibben 气动肌肉难以满足推力和大行程输出的要求,该文研究开发了一种新型 推力大行程气动柔性驱动器。利用扁平弹性管的螺旋叠加结构实现了柔性驱动器的大行程及 推力驱动,利用中心轴导向和加强网筋裹覆技术以提高驱动器直线运动重复精度与工作寿命, 建立了该驱动器驱动力模型,对该柔性驱动器工作特性的试验研究结果表明: 驱动器输出推力 随供气压力增大而增大,随工作长度增大而减小。当供气压力为0. 3 MPa 时,被测驱动器最大 驱动推力为320 N,最大伸长变形率达120%以上。
Abstract:
The demands of thrust force and large stroke output can not be satisfied with Mckibben pneumatic muscle. A new type of pneumatic compliant actuator with thrust force and large stroke output is developed in this paper. The compliant actuator can provide large stroke and thrust force because of the spiral superposition structure of the flat elastic pipe. In order to improve its repeatability precision of linear motion and the life, the central guiding structure and the fibre net cover are designed. The mathematical model of the compliant actuator is set up and its characteristic is tested. Experimental results show that the thrust force of the compliant actuator increases with the increase of the air pressure, and decreases with the increase of the working length of the actuator. The maximum thrust is 320 N and the maximum rate of deformation is up to 120% at the air supply pressure of 0. 3 MPa.

参考文献/References:

[1] 王祖温,隋立明,包钢. 气动肌肉驱动关节的输入整 形研究[J]. 机械工程学报, 2005, 41( 1) : 66-70.
[2] Chou C P,Hannaford B. Measurement and modeling of Mckibben pneumatic artificial muscle[J]. IEEE Transactions on Robotics and Automation,1996,12 ( 1) : 90 -102.
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[4] 张立彬,鲍官军,杨庆华,等. 一种气动柔性驱动器 [P]. 中国: 200520101465. 2, 2006-06-28.
[5] 北川,塚越. 螺旋チュープアクチュエータ[P]. 日 本: P2001-107178, 2002-10-18.
[6] Tsukagoshi H,Kitagawa A,Kamata Y. Wearable fluid power composed of transformed flat tube actuators [A ]. IEEE/RSJ International Conference on Intelligent Robots and Systems[C]. Lausanne,Switzerland: EPFL, 2002: 1178-1183.
[7] Damme M V,Beyl P,Vanderborght B, et al. The safety of a robot actuated by pneumatic muscles—A case study[J]. International Journal of Social Robotics, 2010,2 ( 3) : 289-303.
[8] 张宏立,申珉珉,彭光正. 气动人工肌肉静态数学模 型与实验研究[J]. 液压与气动, 2009( 4) : 17-19.
[9] 彭光正,沙俊伟,刘昊,等. 新型气动人工肌肉特性测 试系统的研究[J]. 液压与气动, 2009( 11) : 62-65.

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备注/Memo

备注/Memo:
基金项目: 国家自然科学基金( 51075213) ; 江苏省自然科学基金( BK2008405) 作者简介: 滕燕( 1970 -) ,女,博士,副教授,主要研究方向: 气动及机电一体化控制技术,E-mail: yanteng@ sohu. com。
更新日期/Last Update: 2012-10-23