Paper Title:
Dexterous Robot’s Finger Actuated by Pneumatic Artificial Muscle
  Abstract

Through the structural analysis of hand, using mechatronics ideas, robot fingers based on Pneumatic Muscle Actuators (PMA) is designed and manufactured. Referring to the proportion of manual hand, the finger has three degrees of freedom. The far and middle finger joints are coupled of steel wire transmission mechanism, while the middle finger knuckle and the root are driven by a pair of artificial muscles. In order to realize the feedback control of displacement and the tactile force, the finger’s three joints are installed with three R24HS potentiometer and the fingertip is installed with the touch force sensor. The finger design integrates with mechanical structure, sensing, control and driving system. It achieves the integration and modularization in a maximum extent and completes the full theoretical support and experimental verification for the next step integration design of the flexible bionic robot hand.

  Info
Periodical
Advanced Materials Research (Volumes 383-390)
Chapter
Chapter 4: Composite Materials
Edited by
Wu Fan
Pages
920-924
DOI
10.4028/www.scientific.net/AMR.383-390.920
Citation
B. J. Guo, K. Wang, "Dexterous Robot’s Finger Actuated by Pneumatic Artificial Muscle", Advanced Materials Research, Vols. 383-390, pp. 920-924, 2012
Online since
November 2011
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Price
$35.00
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