Abstract
This paper presents a rigid-flexible composite of bionic hand structure design scheme solution for solving the problem of low load on the soft gripping hand. The bionic hand was designed based on the Fast Pneumatic Network (FPN) approach, which can produce a soft finger bending drive mechanism. A soft finger bending driver was developed and assembled into a human-like soft gripping hand which includes a thumb for omnidirectional movement and four modular soft fingers. An experimental comparison of silicone rubber materials with different properties was conducted to determine suitable materials. The combination of 3D printing technology and mold pouring technology was adopted to complete the prototype preparation of the bionic hand. Based on the second-order Yeoh model, a soft bionic finger mathematical model was established, and ABAQUS simulation analysis software was used for correction to verify the feasibility of the soft finger bending. We adopted a pneumatic control scheme based on a motor micro-pump and developed a human–computer interface through LabView. A comparative experiment was carried out on the bending performance of the finger, and the experimental data were analyzed to verify the accuracy of the mathematical model and simulation. In this study, the control system was designed, and the human-like finger gesture and grasping experiments were carried out.
Highlights
The development of traditional rigid robots is in the relatively early stages; it can complete precise operations, liberate heavy labor and inject new vitality into human production activities [1,2]
Liu Yonggan et al [10] developed a lightweight, soft manipulator with continuous controllable stiffness based on McKibben pneumatic artificial muscles, which can continuously adjust the stiffness at the required position and allow additional stiffness
Zhu et al [11] embedded an elastic tube between two layers of soft fabric by sewing, developing fluidic fabric muscle sheets (FFMS) driven by fluid pressure
Summary
The development of traditional rigid robots is in the relatively early stages; it can complete precise operations, liberate heavy labor and inject new vitality into human production activities [1,2]. Elsayed Y et al studied three kinds of silicone rubber materials and derived a constitutive model, and verified the performance of the three materials based on the simulation analysis of the soft air cavity [23,24] Due to their own advantages, software soft grippers have attracted the attention of researchers and have broad prospects for development. According to the theory of the relationship between Cauchy–Green strain and Piola– Kirchhoff stress tensor, the principal stress of silicone rubber material can be obtained: σTi. where σTi is principal stress in all directions, Pe is hydrostatic pressure, w is strain energy density function, Ii is the strain invariant. In order to study the relationship between the air pressure load of the bionic interphalangeal joint and the bending deformation angle, the cavity structure of the finger joint is the research object.
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