Mechanical Analysis of Pneumatic Flexible Joint of Grabbing Manipulator

In this paper the pneumatics flexible finger joint is introduced,in which elastomeric bellows is driven by air pressure.The principle and structure of the joint are described,so as the manipulator structure made of the joint.The mathematic expression and static arithmetic are established according to analysis of force,between angle displacement of the joint and air pressure inside the bellows.The connection between joint structure dimension and critical angle displacement inside the bellows is discussed,and the function is given between grasp force and air pressure inside the bellows.Analysis and calculation is finally demonstrated from an exemplification.The terminal manipulator can be befittingly made of this original joint for its better cushion and agility.