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工程设计学报
Chinese Journal of Engineering Design  2002, Vol. 9 Issue (3): 159-161    DOI:
    
Investigation to the characteristics of pneumatic bending joint
 YANG  Qing-Hua, ZHANG  Li-Bin, RUAN  Jian
College of Mechatronic Engineering，Zhejiang University of Technolgy，Hangzhou 3 1 0032，China
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Abstract  The relationship between the bending angular degree of the artificial joint and the pressure of com pressed air is first established by using the theory of elasticity m echanics． Then，the mathematical model of the system is built up and the pulse response of the system is theoretically investigated though numerical simulation．The artificial joint is at last experimentally tested and it is concluded that the joint has a quick response to the input of signal and fits to simulate the bending or stretching motion of human join．

Key words： pneumatic      robot joint      digital system       pressure valve     
Published: 28 August 2002
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YANG Qing-Hua
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RUAN Jian
Cite this article:

YANG Qing-Hua, ZHANG Li-Bin, RUAN Jian. Investigation to the characteristics of pneumatic bending joint. Chinese Journal of Engineering Design, 2002, 9(3): 159-161.

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https://www.zjujournals.com/gcsjxb/     OR     https://www.zjujournals.com/gcsjxb/Y2002/V9/I3/159


气动弯曲关节的特性研究

通过应用弹性力学理论来确定人造气动弯曲关节的弯曲角度和压缩空气压力之间的关系． 建立了系统的数学模型，并且通过数字仿真从理论上研究系统的脉冲响应．通过实验方法测试表明，这种人造关节对于信号的输入具有快速的响应，并且适合模拟人体关节的弯曲和伸展运动．

关键词： 气动,  机器人关节,  数字系统,  压力阀 
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