Multi-fingered Dexterous Humanoid Mechanical Hand Driven by Pneumatic Fan-shaped Flexible Joints
Journal Title: 河南科技大学学报（自然科学版） - Year 2019, Vol 40, Issue 4
Abstract
Based on the bionics theory, a kind of pneumatic driven fan-shaped flexible joint was presented to meet the high demand of service robot for flexibility and safety of man-machine interaction, which was used in the construction of multifingered humanoid dexterous hand. The design concept of combining flexible joint drive and rigid hand skeleton was adopted to balance the stiffness and flexibility of the hand. By detecting joint angles and adjusting proportionally the pressure of the compressed air supply, the ability of continuously controlling the finger joint bending angles and finger gripping forces was realized. The working principle and structural design characteristics of fan-shaped flexible joints, and the design of the overall structure of the hand were described in detail. The grasp action and function of the mechanical hand were analyzed by experiment.The results show that multi-finger dexterous humanoid robot hand can complete all kinds of gestures and grasp objects such as ball, cylinder and card.
Authors and Affiliations
Zhaojie SONG, Jianhai HAN, Xiangpan LI, Bingjing GUO
Keywords
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- EP ID EP553857
- DOI 10.15926/j.cnki.issn1672-6871.2019.04.004
- Views 62
- Downloads 0
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