Abstract
In order to increase the lateral stiffness of the joint, a new kind of single-dimensional bidirectional bending joint was developed. Based on the equilibrium analysis of force and moment of the joint and considering the influence of the joint deformation law, the static bending theoretical model of the joint was established. The experimental system was set up to carry out bending experimental. The experimental results show that the experimental data of the joint are consistent well with the theoretical data. The bending deformation has a good consistency of swinging angle from left to right. At 0.35 mPa, the bending angle of the angle reaches 57.5°, which can be used as elbow or knee joints in bionic machinery.
Highlights
Pneumatic flexible joints have many advantages such as light weight, low energy consumption, good compliance and high safety compared with rigid joints, which has been widely applied in various fields such as medical rehabilitation, aerospace and service industries and has become a research hot spot of domestic and foreign scholars [1]
Typical pneumatic actuators include the McKibben artificial muscles [2] and the pneumatic flexible bending joint developed by Zhejiang University of Technology [3]
The error between the theoretical and experimental curve is small, which verify the correctness of the theoretical formula
Summary
Pneumatic flexible joints have many advantages such as light weight, low energy consumption, good compliance and high safety compared with rigid joints, which has been widely applied in various fields such as medical rehabilitation, aerospace and service industries and has become a research hot spot of domestic and foreign scholars [1]. Typical pneumatic actuators include the McKibben artificial muscles [2] and the pneumatic flexible bending joint developed by Zhejiang University of Technology [3]. In order to solve the current problems, a single dimensional bidirectional bending joint with good flexibility and large lateral stiffness was designed. The bending characteristics of the joint are studied by combining theory with experiment, which laid a foundation for later research
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