Dynamic Simulating of Robotic Joint Driven by Lowered Hydraulic Pressure

An original robotic joint is introduced, in which an elastomeric bellows with pliability is driven by lowered hydraulic pressure. A manipulator can be befittingly made of the joint. The structure of the joint are described, and the mathematical expression is established according to an analysis of the static force, between the angular displacement of the joint and the pressure inside the bellows. The integral equation is also found between holistic bending angle of the bellows and its inner volume, and the dynamic model between the angular displacement of the joint and time variable is presented. The simulation of dynamics is further given from a demonstration. Theory model has been validated from the outcome of the simulation: the angular displacement has been damply oscillating at system equipoise point at a maximal hydraulic pressure, and its error is less, compared the displacement of equipoise point with the static maximal angular displacement