Abstract
Based on flexible pneumatic joints, a new kind of flexible finger was proposed. The structure and operating principle of the finger was presented. The kinematics equation of the finger was built by homogeneous transformation matrix. Based on the static experiment of joints, the kinematic simulation of the finger was carried out and the motion trajectory of the finger was obtained. The simulation results show that the finger has good flexibility and can complete the functions of forward bending, reverse bending and lateral swing of human hand.
Highlights
At present, the common driving form of manipulator mainly includes motor drive, fluid drive and other forms [1]
In order to overcome the shortcomings of rigid manipulators and combine with the research status and trend of the flexible pneumatic actuator, a flexible finger is designed by using the multi-directional bending joint and unidirectional bending joint
The changes of elongation and bending angle with air pressure were obtained by static experiments, which are shown in Figs. 3-5 respectively
Summary
The common driving form of manipulator mainly includes motor drive, fluid drive and other forms [1]. Electric driven has the advantages of high precision and easy to control, but it has the disadvantages of large volume and poor flexibility [2]. In order to overcome the shortcomings of rigid manipulators and combine with the research status and trend of the flexible pneumatic actuator, a flexible finger is designed by using the multi-directional bending joint and unidirectional bending joint. The finger can bend like the human finger and can independently and coordinately control the bending angle of each joint It has good flexibility and simple structure and can be used in agriculture, picking robot, service robot and other fields
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