Research on Grasping Force of New Type Pneumatic Flexible Finger

Abstract:

This paper develops a new type of flexible finger employing the pneumatic flexible joints base on the modular design concept. In this work, the mathematical model of the grasping force of the flexible finger is derived and analyzed on the relationship between the air pressure and the grasping force. Further the grasping force experiments of finger using dynamometer and acquire the normal pressure of the finger with different combinations ventilation of joints are conducted, Also, the experimental results are compared with the theoretical results, which confirm the validity of the presented model.

• Periodical: Applied Mechanics and Materials (Volumes 401-403)
• Pages: 245-249
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.401-403.245
• Online since: September 2013
• Authors: Yun Wei Zhao, De Xu Geng, Xiao Min Liu, Jin Tao Zhang
• Keywords: Flexible Finger, Flexible Joint, Grasping Force, Humanoid Robot Hand

References

[1] Masahiro Kondo, Jun Ueda, Tsukasa Ogasawara: Robotics and Autonomous Systems Vol. 56(2008), p.66–81.

[2] Said Ghani Khan, Jamaludin Jalani, Guido Herrmann, etc al: Lecture Notes in Computer Science Vol. 68(2011), pp.299-310.

[3] Tondu B, Lopez P: IEEE Control systems magazine Vol. 20(2000), pp.15-38.

[4] Wang Zhiheng, Bao Guanjun, Zhang Libin, etc al: Journal of Central South University of Technology Vol. 18(2011), pp.1105-1114.

[5] Dexu Geng, Ji Zhao，Lei Zhang, etc al: Applied Mechanics and Materials Vol. 46(2011), pp.2877-2882.

[6] Xiaomin Liu, Yiqiang Wang, Dexu Geng, etc al: Advanced Materials Research Vol. 422(2012), pp.529-533.