Study on Orthogonal and Symmetric Five-fingered Pneumatic Robot Hand

To improve the operation and the flexibility of the robot hand, in this paper we presented a new type pneumatic flexible robot hand based on the pneumatic artificial muscles and active flexible bending joints which developed in the previous research. The robot hand is imposed of five three-joint fingers; the middle finger is on the datum axis with the other four fingers orthogonal and symmetrical. The structure of the robot hand forms the dual-thumb oriented grasp model. Furthermore, we solved the large deformation and nonlinear problems of flexible joint perfectly in the posture model of the flexible robot hand, and then the mathematical equations on the four types of typical grasp posture are given respectively. Finally, both the simulation and the experiments were carried out to verify the mathematical model. The results show that the robot hand has good flexibility and compliance that can complete the operation well.

[1]  Jian Ruan,et al.  Research on novel flexible pneumatic actuator FPA , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[2]  E. A. Al-Gallaf.  Multi-fingered robot hand optimal task force distribution: Neural inverse kinematics approach , 2006, Robotics Auton. Syst..

[3]  G.A. Medrano-Cerda,et al.  Braided pneumatic actuator control of a multi-jointed manipulator , 1993, Proceedings of IEEE Systems Man and Cybernetics Conference - SMC.

[4]  Toshiro Noritsugu,et al.  Development of Pneumatic Rotary Soft Actuator Made of Silicone Rubber , 2001, J. Robotics Mechatronics.

[5]  Ralf Koeppe,et al.  Advances in Robotics: The DLR Experience , 1999, Int. J. Robotics Res..

[6]  Chris Lovchik,et al.  The Robonaut hand: a dexterous robot hand for space , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[7]  Alan S. Morris,et al.  Dynamic modelling, simulation and control of a manipulator with flexible links and joints , 2002, Robotics Auton. Syst..

[8]  Giorgio Cannata,et al.  The Design and Development of the DIST-Hand Dextrous , 1998 .

[9]  Koichi Suzumori,et al.  Flexible microactuator for miniature robots , 1991, [1991] Proceedings. IEEE Micro Electro Mechanical Systems.

[10]  S. SCHULZ,et al.  A new ultralight anthropomorphic hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[11]  Tsukasa Ogasawara,et al.  The multifingered NAIST hand system for robot in-hand manipulation , 2010 .