Study On The Static Model Of Flexible Joints Of Springs Beam

In this paper. The deformation of the robot joints with the artificial muscle-driven of axial intumescent and flexible framework have been researched, such as the plate spring . The computation conversion process is quite tedious. the static deformation of the mathematical model that Artificial joints have been driven by the muscles have been given. Because of the force size, direction and the size of couple have been changed by the cavity pressure p .When the large deflection of cantilever bending plane.At the end of the plane A of the x,y direction ,the deformation coordinates x A,y A, and the problem of corners(Angular displacement)θA.As the theoretical basis and mathematical static model of the bending deformation about the flexible framework of joint.its model has been transformed. the study transform complex calculation of the joint into a simple static model of the object form of second-order nonlinear differential equations . by MATLAB analog computing, to achieve a more simple method of calculation, with better versatility.The paper analysis that the study for plate girder of large deflection of the situation at home and abroad. Focusing on the relevant calculation of large deflection about a cantilever beam, the Original process is to transform the relationship equation into standard form of elliptic integral,the process is difficult. In particular, analysis the method of calculation . In the existing static model foundation, transforms the model equation into a new the differential equation form. Using the MATLAB software's computation superiority, seeks the solution of the transformed method. Separately to transformsthe the distortion equation about the bend angleθAand the coordinate x A,y A into the standard form of the boundary differential equation.Such as, First, in view of project question mathematics solution uniqueness, in mathematics supposition: This research institute has the misalignment the ordinary differential equation analytic solution is only. When the bend angle the differential function is been determination, in view of bvp4c() function about the Solveing the boundary form to carry on the analysis, gradually they transforms cantilever beam's curvature and the bending moment relationship the standard to solve the boundary form function form in MATLAB: dd sθ2 = bπd pi / 4 sinθA ,i?θ.But solution valueθA ,i both in boundary ( s = L) ,and in differential equation. Regarding certain pressure pi , the differential equation'sθA ,iin replace is qi , initially definite value qi . With Matlab software's bvp4c( ) functional calculus boundary valueθA ,i,ComparedθA ,iwith q i,whenθA , i ?θA≤10?4 , namely hasθA , i =θA ,i. In the bend angleθA ,ihas obtained in the foundation, then transforms the curvature and the bending moment relationship about the coordinate x A ,i,y A ,ihe distortion differential equation. Uses the solution differential equation initial-value problem ODE45( ) function to carry on the solution the coordinate x A ,i,y A ,iRegarding certain pressure pi , Uses approaches gradually collects the solution. The function makes the value with Matlab software's ode45 to trial x A ,i,y A ,i, The definite predicted valueθA ,i, satisfies the precision the boundary valueθA , i ?θA≤10?4, as the value which they needs.This research transforms joint's static model as the simple controlled plant second-order nonlinear differential equation form, through the MATLAB computation simulation, achieved the simpler computational method,a better versatility.Regarding two kinds of flexible joint, compares the result which the computed result and the original computational method obtain, the most greatly relative error is smaller than0.2% , thus direct verification two kind of computational method accuracy.