Design And Experimental Study Of Pneumatic Software Dexterous Hand

Software robot technology is in the golden stage of continuous development.As a special software robot,software dexterous hands can be applied in many special fields,such as medical,fragile manufacturing,service,space exploration,military and other industries.The soft and flexible hand made materials determine that it has good flexibility,does not cause damage to the target during the operation,and has strong adaptability,which can grasp objects of different shapes and different materials.In the application research of software dexterous hands,there are several main problems that need to be solved: the low stiffness of the dexterous hand itself leads to lateral bending of fingers,the inaccurate description of the nonlinear mechanical model and kinematic model of the soft joint,and the motion control of the dexterous hand.In this article,the following three aspects are studied:1.This paper analyzes the structure of human palms,designs a software dexterous hand that conforms to the shape of human palms,analyzes the movement mode and body structure of link animals,and designs two software drivers as joints of dexterous hands.The unidirectional bending joint controls the finger to bend up and down,and the side swing joint controls the finger to swing left and right.The production process of the soft joint is designed,and the physical joint is produced.2.Based on the Yeoh hyperelastic constitutive model,a mechanical model of the soft joint was established.Based on the morphological changes of the joint when subjected to air pressure,the bending joint pose equation,the lateral joint pose equation,and the finger pose equation were established.3.Classify according to the execution action matched to the grasping target,and develop a grasping strategy based on image recognition;propose a closed-loop force / position control method based on pneumatic software dexterous hands,judged by fingertip pressure sensors Whether the finger touches the object,and then switch the force / position closed-loop control.A simulation model of the force / position closed-loop control system is established in the MATLAB Simulink toolbox,and the tracking performance of the closed-loop control system is verified.The static analysis of the joint and the side-joint joint was performed to obtain the point displacement data on the end surface when the joint was subjected to air pressure,and the data was integrated into a change curve of the rotation angle of the soft joint with respect to air pressure.The change curve of the theoretical model was compared with The curve of the simulation model was modified and the theoretical model was modified.Based on the pose equation of the dexterous hand,the working space of the dexterous hand was obtained.4.The software smart hand pneumatic control platform was set up,and the upper computer graphic control software was designed.The mechanical characteristics of the software joints were tested,the experimental results were compared with the theoretical model,and the reasons for the errors were analyzed.The performance of the/position closed-loop control system is tested.The results show that the system has better tracking performance and faster response speed.The experiments are carried out on the grasping ability of the dexterous hand.The results show that the dexterous hand designed in this paper can grasp different shapes,A variety of objects of different sizes have good practicability.