Study on Structure Design and Motion Characteristics of Pneumatic Flexible Wrist with Braking Function

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter</td><td class="align_center">Numerical value</td><td class="align_center">Units</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Pulse duration</td><td class="align_center">0.5, 1.0, 1.5</td><td class="align_center">s</td></tr><tr><td class="align_left">The working mode of the wrist</td><td class="align_center" colspan="2">Muscles 1 and 2 are simultaneously ventilated, and muscles 3 and 4 are not ventilated</td></tr><tr><td class="align_left">Working air pressure of the artificial muscle</td><td class="align_center">0.10, 0.20, 0.30</td><td class="align_center">MPa</td></tr><tr><td class="align_left">Working air pressure of the brake</td><td class="align_center">0, 0.05, 0.10, 0.15</td><td class="align_center">MPa</td></tr><tr><td class="align_left">Sampling frequency</td><td class="align_center">500</td><td class="align_center">Sps</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The specific experimental conditions.</div>

Applied Bionics and Biomechanics

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Table 3

Table 3: Study on Structure Design and Motion Characteristics of Pneumatic Flexible Wrist with Braking Function 