摘要
针对气动柔性关节易发生气体泄漏、失压等安全问题,设计了使用多个气囊驱动的安全柔性关节,从而提高了气动柔性关节在实际使用中的安全性。建立了安全柔性关节的静态数学模型,设计了相应的控制系统,并且设计了具有2个安全柔性关节的机器人单根手指。
According to the security problems of flexible pneumatic joints, such as gas leakage, pressure and other, the safety flexible joints driven by multi-gasbag were purposed, which can enhance the safety in actual use of flexible pneumatic joints. Subsequently, the static mathematical model of safety flexible joints was established. Finally, its corresponding control system was given and a single finger of the harvesting robot with two safety flexible joints was designed.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2008年第8期105-108,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(项目编号:50375067)
高等学校博士学科点专项科研基金资助项目(项目编号:20050299002)
