Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
Bionic inspiration from human thumb and index finger was the drive to design a high-performance two-finger dexterous hand.The size of each phalanx and the motion range of each joint in the human thumb and index finger...Bionic inspiration from human thumb and index finger was the drive to design a high-performance two-finger dexterous hand.The size of each phalanx and the motion range of each joint in the human thumb and index finger were summarized,and the features of three grasping patterns were described in detail.Subsequently,a two-finger dexterous bionic hand with 6 Degrees of Freedom(DoFs)was developed.Both the mechanical thumb and index finger were made up of three rigid phalanx links and three mechanical rotation joints.Some grasp-release tests validated that the bionic hand can perform three grasping patterns:power grasp,precision pinch and lateral pinch.The grasping success rates were high under the following cases:(1)when power grasping was used to grasp a ring with external diameter 20 mm-140 mm,a cylinder with mass<500 g,or objects with cylinder,sphere or ellipsoid shape;(2)when the precision pinch was used to grasp thin or small objects;(3)when the lateral pinch was used to grasp low length-to-width ratio of objects.The work provided a method for developing two-fimger bionic hand with three grasping patterns,and further revealed the linkage between the difference in fimger structure and size and the hand manipulation dexterity.展开更多
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
基金a European Marie Curie International Incoming Fellowship(326847 and 912847)a Special Foundation for Talents of Northwest A&F University(Z111021801)two Key Research and Development Plans of Shaanxi Province(2019NY-172 and 2018030).
文摘Bionic inspiration from human thumb and index finger was the drive to design a high-performance two-finger dexterous hand.The size of each phalanx and the motion range of each joint in the human thumb and index finger were summarized,and the features of three grasping patterns were described in detail.Subsequently,a two-finger dexterous bionic hand with 6 Degrees of Freedom(DoFs)was developed.Both the mechanical thumb and index finger were made up of three rigid phalanx links and three mechanical rotation joints.Some grasp-release tests validated that the bionic hand can perform three grasping patterns:power grasp,precision pinch and lateral pinch.The grasping success rates were high under the following cases:(1)when power grasping was used to grasp a ring with external diameter 20 mm-140 mm,a cylinder with mass<500 g,or objects with cylinder,sphere or ellipsoid shape;(2)when the precision pinch was used to grasp thin or small objects;(3)when the lateral pinch was used to grasp low length-to-width ratio of objects.The work provided a method for developing two-fimger bionic hand with three grasping patterns,and further revealed the linkage between the difference in fimger structure and size and the hand manipulation dexterity.
