Dynamics Investigation on Bidirectional Active Flexible Bending Joints

Xiao Min Liu; Yi Qiang Wang; De Xu Geng; Yun Wei Zhao; Jin Tao Zhang

doi:10.4028/www.scientific.net/AMR.422.529

Paper Titles

Comments on NO_x Emission Abatement in Cement Industry
p.509

Observer Design and Stabilization for a Class of Switched System
p.514

Study on Calibration of 3-UPS/S Parallel Kinematic Mechanism
p.519

Perfect Dynamic Model and Optimal Design of Vibration-Impact Rammer
p.525

Dynamics Investigation on Bidirectional Active Flexible Bending Joints
p.529

L2 Vocabulary Teaching under Multimedia-and-Network Environment
p.534

Study on Pre-Planning and Design of a Hotel
p.538

Gan-Based Leds Grown on Cone-Shaped Patterned Sapphire Substrates with Peripheral Air Voids by Lateral Etching
p.542

Inverse Analysis of Surrounding Rock Mechanical Parameters Based on LS-SVM
p.547

HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 422Dynamics Investigation on Bidirectional Active...

Dynamics Investigation on Bidirectional Active Flexible Bending Joints

Abstract:

To aim at the characteristics of combination of pneumatic elastomer of flexible joints, the uniform distributed mass of pneumatic artificial muscle (PAM) was equivalent to the concentrated mass of the two ends by means of equivalent mass method; then the kinematics differential equation of the PAM was set up; and the natural frequency of PAM was consequently obtained. Based upon the above analysis, the dynamic model of joint with variable parameters was then analyzed; both the axial and bending dynamic performance of the two directional active bending flexible joint was studied and their natural frequency separation was obtained. And this study provides basis for making humanoid robot hand using this flexible joints.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Advanced Materials Research (Volume 422)

Pages:

529-533

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.422.529

Citation:

Cite this paper

Online since:

December 2011

Authors:

Xiao Min Liu, Yi Qiang Wang, De Xu Geng, Yun Wei Zhao, Jin Tao Zhang

Keywords:

Dynamic, Flexible Joint, Natural Frequency, Two Directional Bending

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] S Jian, Z Tiezhong, X Liming, Research actuality and prospect of picking robot for fruits and vegetables, Transactions of the Chinese Society for Agricultural Machinery, 37(2006), 158-162.

Google Scholar

[2] DB Reynolds, DW Repperger, CA Phillips, Modeling the dynamic characteristics of pneumatic muscle, Annals of Biomedical Engineering, 31 (2003), 310~317.

DOI: 10.1114/1.1554921

Google Scholar

[3] B Subudhi, A S Morris, Dynamic modelling, simulation and control of a manipulator with flexible links and joints, Robotics and Autonomous Systems, 41 (2002), 257-270.

DOI: 10.1016/s0921-8890(02)00295-6

Google Scholar

[4] G.L. Tao, J.W. Xie, H. Zhou, Research Achievements and Development Trends of Pneumatic Artificial Muscles, Journal of Mechanical Engineering, 45 (2009), 75-83.

DOI: 10.3901/jme.2009.10.075

Google Scholar

[5] N Saga, T Saikawa, Development of a Pneumatic Artificial Muscle Based on Biomechanical Characteristics, Journal of Advanced Robotics,22(2008),761-770.

DOI: 10.1163/156855308x305317

Google Scholar

[6] Dexu Geng, Ji Zhao, Lei Zhang, Yunwei Zhao, Structural Design and Position and Posture Analysis of Five-fingered Robot Hand based on Pneumatic Flexible Joint, Applied Mechanics and Materials, 44-47 (2011), 2883-2887.

DOI: 10.4028/www.scientific.net/amm.44-47.2883

Google Scholar