摘要
气动元件在工作状态时易发生气体泄漏等安全问题,本文针对以带扭簧的气动柔性关节,设计了使用多个气囊驱动的安全柔性关节,从而可提高该种气动柔性关节在实际使用中的安全性;完成了该种柔性关节的动力学分析;设计了相应的控制系统;并且设计了具有两个该种柔性关节的单根机器人手指。
According to the safety problems of the pneumatic components in working station, such as gas leakage, etc, the safety flexible joints driven by multiple air-bags based on flexible penumatie joints with torsion sping were designed, so as to strengthen the safety of the air-powered flexible joint in practice. The kinetic analysis of this safe flexible joint was carried out, the control system and a simple root robot finger with two safe flexible joints were designed.
出处
《机床与液压》
北大核心
2008年第9期227-228,256,共3页
Machine Tool & Hydraulics
关键词
扭簧
安全柔性关节
气体驱动
Torsion spring
Safe flexible joint
Air-powered
