Mechanism Design And Motion Control Realization Of Several Freedoms Dexterous Hand Driven By Pneumatic Artificial Muscles

Human body as the world’s most flexible structure, it’s a light-quality, high-precision,good-flexibility system insisted by multiple joints. Along with the development of the industrytechnology, the design and manufacture of dexterous hand becomes very popular at present.People have been pursuing a good bionic performance of the hand by doing deeply research. Inthe other hand, with the development of the intelligent dexterous hand, the property and actionrequirements to the drive is being higher and higher, while the traditional actuator existsdifferent kinds of problems in the application of the dexterous hand, which is being a block tothe development. And the pneumatic artificial muscle gets developed in this context, since it’sflexible and bionic.Pneumatic artificial muscle is a air actuator by transferring air force into output force,comparing with the traditional actuators, the pneumatic muscle has prominent advantages in thefollowing aspects: the force/weight value is much bigger, the actuator itself is much moreflexible, safe, and reliable, as well as it’s also good enough for such a actuator which can workwithout any reduction device and transmission mechanism, by which can it reduce the cost andweight of the mechanic system and make the system be much more soft and flexible. Thepneumatic muscle is being widely used in driving the joint of robot.The design of the dexterous hand of which the shape and motion range of the joint is closeto humanoid hand of this article is based on the achievement of previous research. Thisdexterous hand is actuated by pneumatic muscles and can achieve the motion as good as humanbeing.The main works of this article are as followings:Firstly, a new static mathematical model was established by analyzing the bias between thecommon mathematical model of pneumatic artificial muscle and the experiment value, and thismodel has been proved to be good at reflecting the characteristics of the pneumatic artificialmuscle. Secondly, the structure of the dexterous hand of which the shape is similar with thehumanoid hand was established by using a3d modeling software. The dexterous hand includesthree fingers of which are the same structure, and a wrist which insists of three joints. Themotion ranges of the dexterous hand are as followings: the swing knuckles range of the thumbnearly horizontal is-60°~60°, the middle knuckle is-60°~60°, far knuckle is0~90°.Forefinger and middle finger to the nearly knuckles lateral wobble is0to30°, middle fingersection and far knuckles movement scope is0~90°. The freedom of two degrees of the wristis-30°~30°,-30°~30°, respectively.Thirdly, the motion control system was established based on the pneumatic artificialmuscle drive principles. It was proved to be reliable by the joint response signal trackingexperiment, as well as which also proved the rationality and reliability of the dexterous handwas very good.Lastly, the real dexterous hand experimental platform was established through the previousdesign, and the joint motion experiment was conducted on this platform, by which it provedthat the dexterous hand of this article is bionic.