Research On The Control Strategy Of The New Kind Of Bending Joint And The Multi-Joint Finger

A new type of pneumatic bending joint based on the flexible cylinder is designed. We study the racial deformation and the axial deformation created by the certain gas pressure. We establish the static model of the bending joint and prove the rationality of the model by the experiment. We also establish the dynamic model of the bending joint based on the model of cantilever. The simulating results indicate that the bending joint could possess good dynamic characteristic by choosing the rational structure parameters.We design the servo control system of the bending joint based on the proportional servo technology. The mathematic model of the servo control system is established in this paper. We fulfill the control of any angle degree by using the algorithms of PID control and fuzzy control. The paper also realizes the trajectory tracking of the bending joint by adopting the algorithms of calculating moment and neural PID.We construct a finger of two DOF by using two bending joints. The kinematics equations are established. The paper presents the feedback control based on Jacobi matrix. We bring forward the error optimal control when the error and the rate of the error are required to be the least. The sliding model control is considered when the robust characteristic of the system is considered.The paper discusses the kinematics equations of the three-joint redundancy finger and establishes the dynamic mathematic model. The solution of the inverse kinematics equations is acquired by using a Hopfield NN with three neural cells. The simulating results indicate that the finger possesses good characteristic. Furthermore the error of trajectory tracking is very small by using the algorithm of Hopfied NN. We present the dynamic control algorithm based on inverse-psuedo and analyze the grasping force of the finger.According to the special requirements of the action force of the finger, the paper brings forward a algorithm which possesses force adaptation based on NN with integral controller. The simulating results prove the rationality of the algorithm.Subsequently the paper introduces the designing principle of a three-claw pneumatic manipulator and the servo control system based on PWM principle.At last, we discuss the application foreground of the bending joint and put forward the future study directions.