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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2010, Vol. 11 Issue (4): 255-262    DOI: 10.1631/jzus.A000030
Special Part-issue: 2009 International Symposium on Robotics and Mechatronics     
Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton
Daisuke Maruyama, Hitoshi Kimura, Michihiko Koseki, Norio Inou
Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo 152-8550, Japan
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Abstract  The purpose of this study was to build a flexible mechanical system with a hydrostatic skeleton. The main components of this system are two type flexible bags. One is a structural bag with constant inner pressure. The other is an actuator bag with controlled inner pressure. To design the system, it was necessary to estimate both structural deformation and driving force. Numerical analysis of flexible bags, however, is difficult because of large nonlinear deformation. This study analyzed structural strength and driving force of flexible bags with the nonlinear finite element analysis (FEA) software ABAQUS. The stress concentration dependency on the bag shape is described and the driving force is calculated to include the large deformation. From the analytical results, this study derives an empirical equation of driving force. The validity of the equation was confirmed by condition-changed analyses and experimental results.

Key words： Flexible mechanical system      Hydrostatic skeleton      Design method      Nonlinear finite element analysis (FEA)     
Received: 19 January 2010      Published: 29 March 2010
CLC:  O35  
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Daisuke Maruyama
Hitoshi Kimura
Michihiko Koseki
Norio Inou
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Daisuke Maruyama, Hitoshi Kimura, Michihiko Koseki, Norio Inou. Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2010, 11(4): 255-262.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.A000030     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2010/V11/I4/255

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