气动软体自折叠机械臂的驱动和负载性能

徐彦,方琴,张超,李鸿巍

Driving and load performances of pneumatic soft self-folding manipulators

Yan XU,Qin FANG,Chao ZHANG,Hong-wei LI

图 7 气动机械臂结构基本单元间的几何关系

Fig.7 Geometric relationship between basic elements of pneumatic manipulators