Study on Bidirectional Controllable Flexible Bending Joints Based on Elongation Artificial Muscles

摘要

Flexible joint plays an important role in compliant motion of robot and bionic function and so on. We developed a new type bidirectional controllable flexible bending joint based on elongation artificial muscles, and which can axial elongate and bend two-dimensional two-way control in space. Furthermore, we had theoretical and experimental analysis on both axial elongation and bending deformation of joint, and get the pressure-elongation relationship and bending moment-angle properties. And this study could be valuable for the dynamic analysis and motion accuracy control of the robots driven by this type flexible joint.