Research On Five Degree Of Freedoms Finger's Motion Analysis And Control Strategy Based On Flexible Pneumatic Actuator

As final executing manipulator for robot to interact with outsideenvironment, the terminal actuators have been paid much attention.Besides the traditional rigid driving and executing sets, pneumaticartificial muscle PMA as a new type of actuator which is characterized bydirect actuation, simple structure, flexibility, dexterity and highpower/weight ratio has attracted lots of researchers. Research on it hasbeen carried out by many scholars both abroad and at home, and aprimary progress has already been achieved in both academic studies andpractical applications. The new type flexible pneumatic actuator FPAwhich has all the advantages of typical artificial muscle actuatorsdeveloped in this dissertation is a kind of actuator as well as manipulator.Further more, it has better stiffness characterize than the typical artificialmuscle actuators. Based on FPA, Flexible pneumatic bending joint andflexible pneumatic ball joint are designed. And flexible pneumatic fingerwith five degree of freedoms (DOFS) are developed by utilizing those joints finally.Kinematics and inverse kinematics equation are derived by analyzing theflexible pneumatic finger. And redundancy of the reverse kinematicsequation is resolved by genetic algorithms.Structure and motion characteristic of human fingers which is theelement of flexible pneumatic finger is studied based on evolutionism.And trajectory planning of the flexible pneumatic finger is achieved byanalyzing human fingertip's trajectory and motion characteristic ofhuman finger joints.The BP and RBF neural network controllers which control the fingermoving as the expected trajectory are designed. Different controller isused to achieve the aim of trajectory track in different occasions becauseof their disadvantage and advantage.Research on motion control and trajectory planning are carried outby experiments successfully. And trajectory tracking between flexiblepneumatic finger and human's finger is realized.Flexible pneumatic finger with five DOFS is developed in thisdissertation. And its kinematics model and control arithmetic is studied.That is of great significance for designing dexterous multi-fingered hand.