Abstract
In order to eliminate twisting deformation of the flexible pneumatic bending joint, a rigid chain component is designed for it. Compressed air is filled into the pneumatic bending joint, the deformation of rubber tube occurred near the grasping point, and then the force is outputted by the pneumatic bending joint. The characteristics of the output force of the pneumatic bending joint are analyzed from the view of static mechanics, and the mathematic model is built up. Simulation experiment illustrates that the output force of the pneumatic bending joint increases with the air pressure inside the pneumatic bending joint, but the relation between them is nonlinear. But the output force is determined by the value of the air pressure, which means that the output force is controllable. The simulation also shows that the output force of the pneumatic bending joint is relatively small.
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