A variable stiffness method for pneumatic flexible arms

doi:10.1063/5.0157956

CIOMP OpenIR

	A variable stiffness method for pneumatic flexible arms
	X. Wang, D. Geng, H. Peng, W. Xu, D. Wang and L. Zhang
	2023
发表期刊	AIP Advances
ISSN	21583226
卷号	13 期号:8
摘要	In this study, a three-degree-of-freedom pneumatic flexible arm with a braking function was designed to overcome the shortcomings of low bearing capacity and insufficient rigidity of existing flexible arms. The braking force was adjusted by controlling the air pressure entering the brake, changing the stiffness of the flexible arm, and enhancing the posture maintainability of the flexible arm. A theoretical model of the braking force and stiffness of a flexible arm was established, and applicable experiments were conducted. The theoretical data were consistent with the experimental results. The braking force linearly increased with the increase of braking pressure, at a brake air pressure of 0.40 MPa. The braking force of a single braking unit reached 276 N. The stiffness nonlinearly increased with an increase in the brake air pressure. At a brake air pressure of 0.4 MPa, the axial stiffness of the flexible arm in the initial state had the highest value of 20 kN/m. The stiffness change in the bending direction of the flexible arm in the spatial bending state was the largest and increased by 12.4 times. The proposed flexible arm exhibited high stiffness and flexible movement; thus, it can be used as a flexible arm to support other end effectors. The proposed variable stiffness method can be practically employed to maintain the posture of flexible robots, which has a high practical value. © 2023 Author(s).
DOI	10.1063/5.0157956
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收录类别	sci ; ei
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/67967
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	X. Wang, D. Geng, H. Peng, W. Xu, D. Wang and L. Zhang. A variable stiffness method for pneumatic flexible arms[J]. AIP Advances,2023,13(8).
APA	X. Wang, D. Geng, H. Peng, W. Xu, D. Wang and L. Zhang.(2023).A variable stiffness method for pneumatic flexible arms.AIP Advances,13(8).
MLA	X. Wang, D. Geng, H. Peng, W. Xu, D. Wang and L. Zhang."A variable stiffness method for pneumatic flexible arms".AIP Advances 13.8(2023).

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