Research On The Design Of Pneumatic Flexible Dexterous Hand Based On Hand Grasping Behavior

With the continuous development of robot technology,its application has also gradually expanded from purely industrial manufacturing to medical,service,household and other fields that are directly related to humans.Service robots need to be adaptable and better and smarter.Therefore,as a prototype of the human hand,the function and structure of the human hand are simulated,and the design of a multi-degree-of-freedom robot with multiple joints and multiple fingers and a multi-finger dexterous hand has become a research hotspot.At the same time,in the life scene,people's demand for more dexterous grasping and interaction with safer and softer dexterous hands is gradually highlighted.However,in the current research,the aerodynamic flexible fingers that highly imitate the shape and behavior of the human hand have not yet realized the parametric design,and the existing molding process has the problem of insufficient airtightness of the flexible fingers to break.This paper first introduces the key dimensions of the human hand through literature research,collects the joint position data of the human hand grabbing different objects through the CCD optical motion capture system,and analyzes the angle and angular velocity characteristics of each finger joint during the human grasping process;The thin-film pressure sensing acquisition system collects the grasping force data when the human hand grasps the water bottle,analyzes the grasping force of each finger and the cooperative grasping characteristics.Then,the structural design of pneumatic and pneumatic fingers is analyzed using the ABAQUS finite element simulation method to analyze the structure and deformation characteristics of the flexible finger.The relationship between the four key structures of the flexible finger and the joint angle is specifically analyzed,and the structural parameters are compared to the bending angle.K value of the degree of influence,summarizes a set of flexible finger parameterized design feature data.The optimal structural parameters of the flexible finger design based on the grasping behavior of the hand are obtained.Then this paper studies the manufacture of hollow flexible fingers with complex internal structure,and proposes a manufacturing technique and method for the integral molding of flexible fingers.The precision physical model is tested for compression deformation,and the produced flexible finger has an accurate physical deformation angle,a measured response time of 0.15 s,and a repeat accuracy of 1.2mm.Finally,the model of the flexible hand is designed and made in kind,and the test of reducing the grasping ability of the flexible hand is tested.The flexible hand is controlled by the pneumatic control system to realize the grasping task of some typical structural items;The power extraction was tested,and the distribution of the grasping force of each finger of the flexible hand was equal to that of the human hand.