Research on Key Technologies of Pneumatic Flexible Joints for Robots

摘要

As a direct carrier of flexible motion for robots, the flexible structure characteristics of flexible joints essentially determine the flexible motion performance of robots. This article first introduces the research status of the pneumatic flexible joints at home and abroad. Then, starting from the modeling methods of pneumatic artificial muscles, the geometric models and phenomenal models were compared and analyzed. Finally, the research progress and achievements on pneumatic flexible joint control were introduced in detail. This paper has certain practical significance for the research of pneumatic flexible joints.