Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint

An antagonistic pneumatic bidirectional rotary flexible joint was developed to improve both safety and environmental adaptability of service robots and associated human interactions. The joint comprises two semicircular rotary actuators with positive and negative symmetrical distributions and a pneu...

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Autores principales:	Hongbo Liu, Guodong Sun, Dexu Geng, Junye Li
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939
Acceso en línea:	https://doaj.org/article/8066e06a952e492ea0d6c82736c01fcb
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spelling	oai:doaj.org-article:8066e06a952e492ea0d6c82736c01fcb2021-11-29T00:55:46ZStudy on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint1563-514710.1155/2021/8584798https://doaj.org/article/8066e06a952e492ea0d6c82736c01fcb2021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/8584798https://doaj.org/toc/1563-5147An antagonistic pneumatic bidirectional rotary flexible joint was developed to improve both safety and environmental adaptability of service robots and associated human interactions. The joint comprises two semicircular rotary actuators with positive and negative symmetrical distributions and a pneumatic brake. As such, it achieves forward and reverse rotations, and its damping and braking are adjustable in real time, enabling it to maintain its position. According to the force/torque balance at the free end of the rotary actuator, the rotation angle static model was established. The relationship between the actuator rotation angle, driving torque, impedance torque, and air pressure was obtained experimentally. The brake airbag was manufactured using additive manufacturing and silicone gel casting technologies. The mathematical model of the braking torque was established next, and the model was verified through experiments. Furthermore, an experimental system was constructed to carry out the air pressure-angle, air pressure-torque, and speed response experiments without the load on the joint. The results have shown that the joint can achieve any position within ± 68.5° when the driving air pressure varies from 0 to 0.30 MPa; the time required to reach the maximum angle was 0.85 s. The joint has shown good adjustable damping characteristics. Lastly, the braking torque reached 4.21 Nm at 0.32 MPa, effectively maintaining the position.Hongbo LiuGuodong SunDexu GengJunye LiHindawi LimitedarticleEngineering (General). Civil engineering (General)TA1-2040MathematicsQA1-939ENMathematical Problems in Engineering, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939
spellingShingle	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939 Hongbo Liu Guodong Sun Dexu Geng Junye Li Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint
description	An antagonistic pneumatic bidirectional rotary flexible joint was developed to improve both safety and environmental adaptability of service robots and associated human interactions. The joint comprises two semicircular rotary actuators with positive and negative symmetrical distributions and a pneumatic brake. As such, it achieves forward and reverse rotations, and its damping and braking are adjustable in real time, enabling it to maintain its position. According to the force/torque balance at the free end of the rotary actuator, the rotation angle static model was established. The relationship between the actuator rotation angle, driving torque, impedance torque, and air pressure was obtained experimentally. The brake airbag was manufactured using additive manufacturing and silicone gel casting technologies. The mathematical model of the braking torque was established next, and the model was verified through experiments. Furthermore, an experimental system was constructed to carry out the air pressure-angle, air pressure-torque, and speed response experiments without the load on the joint. The results have shown that the joint can achieve any position within ± 68.5° when the driving air pressure varies from 0 to 0.30 MPa; the time required to reach the maximum angle was 0.85 s. The joint has shown good adjustable damping characteristics. Lastly, the braking torque reached 4.21 Nm at 0.32 MPa, effectively maintaining the position.
format	article
author	Hongbo Liu Guodong Sun Dexu Geng Junye Li
author_facet	Hongbo Liu Guodong Sun Dexu Geng Junye Li
author_sort	Hongbo Liu
title	Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint
title_short	Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint
title_full	Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint
title_fullStr	Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint
title_full_unstemmed	Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint
title_sort	study on the structure and performance of an antagonistic pneumatic bidirectional rotary joint
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/8066e06a952e492ea0d6c82736c01fcb
work_keys_str_mv	AT hongboliu studyonthestructureandperformanceofanantagonisticpneumaticbidirectionalrotaryjoint AT guodongsun studyonthestructureandperformanceofanantagonisticpneumaticbidirectionalrotaryjoint AT dexugeng studyonthestructureandperformanceofanantagonisticpneumaticbidirectionalrotaryjoint AT junyeli studyonthestructureandperformanceofanantagonisticpneumaticbidirectionalrotaryjoint
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Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint

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