Research on Design and Application of Pneumatic Flexible Joint
Aiming at the problems such as strong power source stiffness of current rehabilitation lower limb robots and nonlinear and hysteretic control of pneumatic artificial muscle,a knee joint structure driven by pneumatic artificial muscle and MR Brake is designed.According to the kinematic model of the MRB-PAM flexible joint,the motion characteristics of the bionic flexible joint are explored.Based on the three-element model,the Bouc-Wen model and the energy conservation theorem,the mapping model of the structural parameters and dynamic characteristics of the joint are deduced.The dynamic model of the single-leg Lagrangian dynamics of the MRB-PAM flexible joint is established to explore the complex driving mechanism of the flexible joint.The results show that the MRB-PAM flexible joints have better stability and load-bearing capacity than PAM flexible joints,which verifies the feasibility of the MRB-PAM flexible joints.
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