The Flexible Joint Manipulator Fingers Grasping Ability And Motion Control

In recent years,with the development of society and science and technology,robot technology has been paid more and more attention and application in people’s production and life.The flexible manipulator based on pneumatic flexible joint has many advantages,such as high flexibility,strong adaptability and no pollution.It has broad application prospects in the fields of service,medical and industrial robots.The working principle of pneumatic flexible joint manipulator is bending deformation pressure control into the joints of fingers,complete prehension.The purpose of the research is to make it have the shape and function of the human hand,realize the grasping operation of different objects,and has good adaptability.In order to improve the five finger manipulator’s flexibility and flexibility,on the basis of previous studies,this paper developed a dual one-way bending joint and single dimensional two-way bending joint,the joint is the joint main body and a driving device of single degree of freedom elastic composite development.In order to improve the five finger manipulator’s flexibility and flexibility,on the basis of previous studies,this paper developed a dual one-way bending joint and single dimensional two-way bending joint,the joint is the joint main body and a driving device of single degree of freedom elastic composite development.The theoretical model of bending deformation and the theoretical model of the flexible joint clamping force are established,it is verified by experiments.From the view of bionics,four kinds of flexible joint developed a flexible joint manipulator by fingers.The shape of the manipulator is similar to the manpower,the size of about 1.5 times,the overall quality of 725 g,with a total of 5 fingers,each finger is composed of two flexible joints,a total of 10 degrees of freedom,4 degrees of maneuver.The manipulator fingers with each other,can grasp,grip and pinch,pinch and play like hand function,can adapt to less than 207 mm in diameter,cylinder,sphere,triangular and irregular objects,the maximum grasping quality for 1.5kg.The dynamic response of each finger of the manipulator is analyzed by means of a dynamic experimental device,and the response characteristics of the slopes under different driving modes are obtained.The accelerometer,gyroscope and contact force sensor are installed to form a closed loop control with the controller to ensure the accuracy and reliability of the finger position control and force control.The manipulator control system is set up,and the system is used to carry out the experiment on the manipulator’s motion attitude and grasping objects,the function of the five finger manipulator is verified.Flexible joint manipulator fingers which is developed in this paper has good flexibility and flexibility,can achieve most of the functions of hand,which laied the foundation for the development and application of flexible joint manipulator.