Research On Kinesiology And Control Strategies For Pneumatic Humanoid Manipulator

In recent years,with the development of robotics,the humanoid manipulator of a robot as an end operator has attracted the attention of many scientific research institute and industry.Due to the complexity of the task and the unknown of the working environment,the humanoid manipulator has higher demand at the design level,so designing a small shape,flexible operation humanoid manipulator is not easy.At present the existing humanoid manipulator either because of a large number of parts and components caused by complex structure,or in order to save space the transmission method is not perfect.Because of the compromise and concessions on the program,the current appearance of these humanoid manipulator and function are not satisfactory.The purpose of this paper was to design a platform for pneumatic humanoid manipulator,the design and control of the finger were the key parts of the whole platform,the kinematics and control strategies were studied by simulation analysis and physical verification.First of all,according to the principle of bionics,this paper proposed the technical scheme of pneumatic humanoid manipulator by analyzing the structure and the function of manpower.The design of the finger,palm structure and the design of finger joint were based on the principle of equal-angle compass,every finger was all driving characteristics,then completing the drawing of the structure by using Solidworks design software;drive design using the single-acting spring back cylinder driving,through the interaction of air pressure and spring control cylinder stroke,thus controlling the degree of finger bending;control design pneumatic circuit electrical control system based on PLC controlled electric proportional valve.Secondly,through the analysis of the positive and negative kinematics theory of the finger and the use of MATLAB to simulate the running trajectory of each finger,by studying the gesture form of hand,the parameters such as position,velocity and acceleration of each joint are simulated by kinematic simulation of humanoid manipulator finger by ADAMS;the use of Simulation of the material stiffness of the fingers of the finite element stress simulation and size optimization.Finally,download the relevant procedures into the PLC to achieve the usual hand gestures,in the master-slave control mode,the data gloves based on the bending sensor can realize the synchronous movement of the pneumatic humanoid manipulator and the operator's hand,and verify the rationality of the humanoid manipulator's structure size and the feasibility of the movement,which provide a feasible theoretical analysis and design method for the development of humanoid manipulator.