Research On New Rigid Flexible Pneumatic Joint Based On The Arc-shaped FPA

As final executing manipulator for robot to interact with outside environment, the terminal actuators have been paid much attention. Besides the traditional rigid driving and executing sets, pneumatic artificial muscle PMA as a new type of actuator which is characterized by direct actuation, simple structure, flexibility, dexterity and high power/weight ratio, especially to meet the service-type robot for security, flexibility and comfort the increasing demands made on flexible performance characteristics, has attracted lots of researchers. Research on it has been carried out by many scholars both abroad and at home, and a primary progress has already been achieved in both academic studies and practical applications. The arc-shaped flexible pneumatic actuator FPA developed in this dissertation, as the flexible pneumatic actuator, which has all the advantages of typical artificial muscle and can constitute a variety of joints. Further more, it has better stiffness characterize than the typical artificial muscle actuators.The flexible pneumatic actuator, the arc-shaped FPA modular design of the flexible pneumatic actuator is proposed through using different number and combination of the arc-shaped FPA, and designed a variety of the flexible pneumatic actuators. Researched various types of the flexible pneumatic actuators based on the characteristics of the arc-shaped FPA:1. This paper first introduces the research situation about the existing pneumatic actuator. For the past all kind types of joints based on straight tube FPA easily happen deformation when bearing the great external forces, and the ball joints exist disadvantage of non-spherical Bending exercise, Then the principle of the flexible pneumatic joint with the arc-shaped flexible pneumatic FPA actuator is explained.2. Firstly, the static model and basical properties of arc-shaped FPA are profoundly studied. Through the force balance principle the static model is setted up, and the dynamic model is setted up based on the pneumatic system dynamics. Through simulation analysis the static model and the dynamic model of chang the basic parameters of arc-shaped FPA. Produced arc-shaped FPA, to build the experimental platform, on the arc-shaped FPA model and basic characteristics are studied experimentally.3. Based on studied the arc-shaped FPA, proposed and introduced the structure and working principle of rigid flexible pneumatic side-sway joint which composed with two arc-shaped FPA ; Through the force balance principle the static model is setted up, and the dynamic model is setted up based on the pneumatic system dynamics. Through simulation analysis the static model and the dynamic model of chang the basic parameters of arc-shaped FPA. Produced arc-shaped FPA, to build the experimental platform, on rigid flexible pneumatic side-sway joint model and basic characteristics are studied experimentally.4. Proposed and introduced structure and working principle of rigid flexible pneumatic ball joint which composed with three arc-shaped FPA. The torque balance principle set up and analysis of the ball joints of the static model. In accordance with parallel mechanism characteristics, and use neural networks to solve the Positive Solutions of rigid flexible pneumatic ball joint, and analysised the ball joint workspaces; structured the experimental platform, the model and characteristics of the ball joint is studied.5. Based on research on flexible pneumatic bending joint, flexible pneumatic side-sway joint, flexible pneumatic ball joint research in the above, putted forward a three-DOF finger, four-DOF finger, five-DOF fingers, as well as designed the structure of the flexible pneumatic Dexterous Hand composed with four-DOF finger and five-DOF fingers, and analysis of finger coordinate transformation.6. Results showed that the joint exercise posture can controled through the input chamber gas pressure control.various types of flexible pneumatic joints has designed can easily achieve bending exercise,and be able to simulate a very good exercise of person's bending finger joints, the side-sway joint and the ball joint.In addition to the in-depth study of arc-shaped FPA production processand the joint control, further analysis should also the arc-shaped FPA using large-diameter and small diameter of FPA on the joint exercise of influence and power output characteristics, so that people applied to the joints in order to knee, arm joint such as torque larger occasions.The pneumatic robot can be designed at last.