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。
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.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2011年第4期502-506,共5页
Journal of Nanjing University of Science and Technology
基金
国家自然科学基金(51075213)
江苏省自然科学基金(BK2008405)
关键词
气动
驱动器
柔性
推力
pneumatics
actuators
compliance
thrust
