Modeling of Pneumatic Flexible Joint of Grabbing Manipulator

The pneumatics flexible finger joint was introduced,in which the elastomeric bellows was driven by air pressure.The principle and structure of the joint were described,so as the manipulator structure made of the joint.The linear equations of static model were established by means of analysis of force,between angle displacement of the joint and air pressure in elastomeric bellows,or between grabbing force and air pressure in it.The example of analysis and calculation was ulteriorly demonstrated.The actuator of manipulator can be befittingly made of this original joint for its better cushion and agility.