Dynamic Characteristic Analysis of New Pneumatic Bending Joint

Abstract:

Aimed at existing problems on the bending performance of pneumatic bending joint, a new type of pneumatic bending joint is proposed in this paper. Double flexible pneumatic actuators are used as actuating drivers. Based on the first law of thermodynamics and the joint dynamic equation, the angle dynamic model is established and analyzed. Moreover simplified model is proposed. Meanwhile, its dynamic characteristic is analyzed through simulation analysis. The simulation suggests the following results: in the gas-filled phase, the joint’s pressure response time is about 10ms; while it is about 60ms in the gas-escape phase; and the angle response time of joint is 10 to 20ms. When the joint damping coefficient is increasing, this value will also increase.

• Periodical: Applied Mechanics and Materials (Volumes 271-272)
• Pages: 1742-1749
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.271-272.1742
• Online since: December 2012
• Authors: Peng Cheng Huang, Qing Hua Yang, Guan Jun Bao, Li Bin Zhang
• Keywords: Bending Joint, Characteristic Analysis, Dynamic Model, Flexible Pneumatic Actuator (FPA)

References

[1] D.G. Caldwell, G.A. Medrano-Cerda, M.J. Goodwin: Braided Pneumatic Actuator Control of a Multi-Jointed Manipulator. Int. Conf on Systems, Man and Cybernetics Proceedings. IEEE. Forum Vol. 423–428(1993).

DOI: 10.1109/icsmc.1993.384780

[2] C.P. Chou, B. Hannaford: Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles. Conf. on Robotics and Automation. IEEE. Forum Vol. 281-286(1994).

DOI: 10.1109/robot.1994.350977

[3] C.P. Chou, B. Hannaford: Measurement and Modeling of McKibben Pneumatic Artificial Muscles. Transaction on Robotics and Automation. IEEE. Forum Vol. 90-102(1996).

DOI: 10.1109/70.481753

[4] N. Tsagarakis, D.G. Caldwell: Improved Modeling and Assessment of Pneumatic Muscle Actuators. International Conference on Robotics & Automation. IEEE. Forum Vol. 3641-3646(2000).

DOI: 10.1109/robot.2000.845299

[5] K. Suzumori, S. Iikura, and H. Tanaka: Flexible Microactuator for Miniature Robots. Conf. on Micro Electro Mechanical Systems. IEEE. Forum Vol. 204–209(1991).

DOI: 10.1109/memsys.1991.114797

[6] K. Suzumori, S. Likura, H. Tanaka: Development of Flexible Microactuator and Its Applications to Robotic Mechanisms. International Conference on Robotics and Automation. IEEE. Forum Vol. 1622-1627(1991).

DOI: 10.1109/robot.1991.131850

[7] T. Noritsugu, M. Kubota, S. Yoshimatsu, in: Development of Pneumatic Rotary Soft Actuator Made of Silicone Rubber, edited by Journal of Robotics and Mechatronics, 2001, 13(1): 17-22.

DOI: 10.20965/jrm.2001.p0017

[8] S. Schulz, C. Pylatiuk, G.Bretthauer: A New Ultralight Anthropomorphic Hand. International Conference on Robotics & Automation. IEEE. Forum Vol. 2001.

DOI: 10.1109/robot.2001.932988

[9] Yang Qinghua, Zhang Libin, Bao Guanjun, Ruan Jian: Research on Novel Flexible Pneumatic Actuator FPA. Conference on Robotics, Automation and Mechatronics. IEEE. Forum Vol. 385-389(2004).

DOI: 10.1109/ramech.2004.1438950

[10] Yang Qinghua, Zhang Libin, Bao Guanjun, Xu Fang, Shen Jianbin, in: Investigation of the characteristics of pneumatic flexible-bending joint and its neural PID controlling algorithm, edited by Transactions of the Chinese Society of Agricultural Engineering, 2004, 20 (4):88-91.

DOI: 10.1109/ramech.2004.1438949

[11] Huang Pengcheng, Yang Qinghua, Bao Guanjun, Zhang Libin, in: Static Characteristic Analysis of Finger Rehabilitation Apparatus Pneumatic Bending Joint. To be published

[12] K. Wark: Thermodynamics (Sixth Edition) (Tsinghua university press, Beijing 2006).

[13] B.F. John. Engines, energy, and entropy (Global View Publishing, Pittsburgh 2003).