Design Of Air-powered Safety Flexi Joint And It's Application In Robot Finger

Manipulator is the key part of robot which needs flexibility in many applications. For example,the fingers of picking robot which harvests fruits and vegetables such as apples and tomatoes in the agriculture request more flexibility with aiming to avoid damage to the epidermis of fruits and vegetables.So the research of the actuator of robot fingers and structure of the manipulator has become more significant.View the driver type from the robot fingers,traditional hydraulic or electric power drivers have their respective disadvantages and can only partly meet the demands.So the research on the pneumatic driver and flexible joints have significant application value for the robot areas.Presently,the international pneumatic flexible fingers includes Elbow Drivers and Bellows Drivers.Domestic universities as like Zhejiang Industrial University have gotten some progress and the corresponding oretical research on the pneumatic drivers and flexible joints of the structure innovation,which have promoted and expanded the research and application of the flexible fingers for the robot finger areas.Most pneumatic drivers mentioned before take use of the gas flexibility and bending with multiple degrees of freedom.To resolve security issues when robot finger composed by pneumatic flexible joint is grasping something,the article develops special struction which uses two airbags to driver flexible finger.1.The pneumatic flexible joints composed by plate spring elastic skeleton(1)The article designs using two airbags to driver single-direction flexible finger joint.Therefore,when one airbag breaks up in practice application,gas pressure and driven power may drop down,we can use gas agencies to inflate the remaining airbag through pressure sensors,then,the gas pressure can rapidly turn to original state which can continue grabbing something.(2)Design and complete the control system of the joints(3)Design and complete single robot finger composed by two joints mentioned before(4)Establish static mathematical formula among the airbag pressure and the blending angle of plate spring and displacement.Through coordinate transformation of the angle and displacement deformation,solve equations of the model using the Mathematica4 software,and by choosing two different materials of the plate spring verify the mathematical formula and the relationship curve.(5)Establish the mechanical and mathematical models of this joint grabbing something and mathematical formula of the airbag pressure and the grab force. Through displacement coordinate transformation and the angle deformation calculation,complete the first and second class of the not fully elliptic integrals solution using Mathematica4 software,and use specific materials of the plate spring, according to the specific size of this joint,with successive solution analysis the spring plate deformation parameters of different grasp,and this joint is more flexible and has more freedoms to adapt to working conditions.2.The pneumatic flexible joints composed by plate the plate hinge with the torsion spring elastic skeleton;(1)In the structure of this joints,design using two air bags to drive a single-degree joint in one-direction.Complete the control system of the joints and single robot finger composed by two joints mentioned before;(2)Completion kinetic analysis of this joint which shows that the angle displacement and the airbag pressure are linear relationship;(3)On the application research of pneumatic safety flexible joint,complete analysis of grasp force of the joint,show that joint angular displacement and the gas pressure are a linear relationship,so are grasp force,and using torsion spring of specific materials and this joint proved the correctness of the conclusions.So the robot manipulator composed by the pneumatic safety flexible joints is relatively simple and convenient controlled.3.The above two programs are driven by gas for grasping force.The article also discuss the design of a driving force for the gas release of the security pneumatic flexible joint.Designed torsion of the spring as grasping force and a gas-driven power as the release force.So show that the joint fingers in a non-working state is closed, and expanded by its gas inflation.Condition that safety airbags leak occurred,it can still seize objects on the torsion spring closure of the joints,This also resolve security issues in the work.At the same time the joint in non-state of work is closed,it will occupy a very small space,especially in the movement demonstrates more superiority and compact robot finger.Summary,the research of the article lays reliable and practical foundation for application of the pneumatic flexible joint.This type pneumatic flexible joint and robot finger should be have more extensive application prospect in the industry, agriculture,medicine and services.