Research on flexible pneumatic spherical joint based on FPA

Actuating joint is a kind of important components of robot research.A new kind of flexible pneumatic spherical joint based on FPA is proposed.It is composed of three FPAs.When the air pressure in three FPAs is adjusted properly,the spherical joint can realize rotation movement.The mathematic model of the joint is built based on the conditions of moment equilibrium.the proper BP neural network model is built according to the characteristics of BP neural network and the inverse solution of parallel mechanism can be solved easily.And the forward position of the spherical joint is solved by BP neural network model.MATLAB simulation experiment was finally carried out to verify the mathematic model of the flexible pneumatic spherical joint.