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氣動柔性扭轉(zhuǎn)關(guān)節(jié)動態(tài)特性研究
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of Flexible Pneumatic Torsion Joint
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    摘要:

    基于力矩平衡原理建立了氣動柔性扭轉(zhuǎn)關(guān)節(jié)的基本動力學(xué)模型，基于絕熱氣體能量守恒方程建立了扭轉(zhuǎn)關(guān)節(jié)FPA的充放氣動態(tài)模型,。分析了FPA初始壁厚,、FPA平均半徑、FPA初始角度,、管接頭出口面積等參數(shù)對扭轉(zhuǎn)關(guān)節(jié)動態(tài)特性的影響。仿真結(jié)果表明：FPA初始壁厚、平均半徑和初始角度對扭轉(zhuǎn)關(guān)節(jié)轉(zhuǎn)角和動態(tài)過程的影響較大,，管接頭出口面積對扭轉(zhuǎn)關(guān)節(jié)轉(zhuǎn)角和動態(tài)過程沒有影響,。實驗結(jié)果與仿真分析基本吻合，表明建立的氣動柔性扭轉(zhuǎn)關(guān)節(jié)模型能夠準(zhǔn)確地描述其動態(tài)過程及特性,。

    Abstract:

    The kinetic model of flexible pneumatic torsion (FPA) joint was established based on equilibrium of moments, and the dynamic models for inflating and deflating process were built based on adiabatic gas conservation of energy. The influences of FPA initial shell-thickness, average radius, initial angle, and connector outlet area on the dynamic characteristics of torsion joint were analyzed. Simulation results showed that the initial shell-thickness, average radius and initial angle of FPA influenced both the turning-angle and dynamic process of torsion joint, while the connector outlet area had no effect on the turning-angle and dynamic process. Experimental results were close to that of simulation, which implied that the established model of flexible pneumatic torsion joint could fairly describe its dynamic process and characteristics. 

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鮑官軍,王志恒,楊慶華,邵鐵鋒,高峰,張立彬.氣動柔性扭轉(zhuǎn)關(guān)節(jié)動態(tài)特性研究[J].農(nóng)業(yè)機械學(xué)報,2010,41(6):204-207. of Flexible Pneumatic Torsion Joint[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(6):204-207.

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