Dexu Geng
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View article: An antagonistic variable-stiffness pneumatic flexible joint
An antagonistic variable-stiffness pneumatic flexible joint Open
This paper develops an antagonistic variable-stiffness pneumatic flexible joint in which two groups of artificial muscles are symmetrically distributed on both sides of the elastic thin plate. The elastic thin plate restricts the axial mov…
View article: A pneumatic particle-blocking variable-stiffness bending actuator
A pneumatic particle-blocking variable-stiffness bending actuator Open
This study introduces a variable-stiffness pneumatic bending actuator to enhance the stiffness of flexible robots. The bending actuator combines the working principles of a pneumatic drive, a wedge structure, and particle blockage. It enab…
View article: A Pneumatic Particle-Blocking Variable-Stiffness Actuator
A Pneumatic Particle-Blocking Variable-Stiffness Actuator Open
In order to improve the stiffness of flexible robots, this paper proposes a variable-stiffness elastic actuator. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. The anti-tensile …
View article: A Pneumatic Particle-Blocking Variable-Stiffness Actuator
A Pneumatic Particle-Blocking Variable-Stiffness Actuator Open
In order to improve the stiffness of the flexible robot,this paper proposes a variable-stiffness elastic actuator to improve the rigidity of flexible robots. The actuator integrates the working principles of a pneumatic drive, wedge struct…
View article: Analysis of Variable-Stiffness Characteristics of Variable-Stiffness Elastic Actuator
Analysis of Variable-Stiffness Characteristics of Variable-Stiffness Elastic Actuator Open
In order to improve the stiffness of the flexible robot,this paper proposes a variable-stiffness elastic actuator to improve the rigidity of flexible robots. The actuator integrates the working principles of a pneumatic drive, wedge struct…
View article: A variable stiffness method for pneumatic flexible arms
A variable stiffness method for pneumatic flexible arms Open
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 b…
View article: Static modeling and experimental analysis of three-degree-of-freedom pneumatic flexible arm
Static modeling and experimental analysis of three-degree-of-freedom pneumatic flexible arm Open
Aiming at the problems of weak driving ability and low torsional stiffness of a pneumatic flexible arm, a new type of pneumatic flexible arm is developed using three fan-shaped driving cavities and convex–concave nested constraint ring str…
View article: Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint
Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint Open
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 wi…
View article: Structure and function of antagonistic pneumatic flexible rotary joint
Structure and function of antagonistic pneumatic flexible rotary joint Open
In order to solve the defects of the flexibility, adaptability and the safety of human-computer interaction of the arm joint of the service robot, an antagonistic rotary joint with buffer capability was developed by using the self-develope…
View article: Experimental study on the static properties of single dimensional bidirectional bending joint
Experimental study on the static properties of single dimensional bidirectional bending joint Open
In order to increase the lateral stiffness of the joint, a new kind of single-dimensional bidirectional bending joint was developed. Based on the equilibrium analysis of force and moment of the joint and considering the influence of the jo…
View article: Kinematics analysis on pneumatic flexible finger
Kinematics analysis on pneumatic flexible finger Open
Based on flexible pneumatic joints, a new kind of flexible finger was proposed. The structure and operating principle of the finger was presented. The kinematics equation of the finger was built by homogeneous transformation matrix. Based …
View article: Optimizing of Pneumatic Flexible Joint Skeleton Parameters Based on Orthogonal Experiment
Optimizing of Pneumatic Flexible Joint Skeleton Parameters Based on Orthogonal Experiment Open
This paper put the flexible joint that can bend to different directions as the research object, and adopted orthogonal experiment to analyze the influence of various parameters on joint bending angle.The experiment results show that the sp…
View article: Experimental Study on Double Driven Single Direction Bending Flexible Joint
Experimental Study on Double Driven Single Direction Bending Flexible Joint Open
This paper develops a new type of pneumatic flexible joint, which is composed of flexible air bag, spring plate and restriction element, which is composed of two artificial muscles.It has a degree of freedom.In order to study the bending d…