Structural Design and Position and Posture Analysis of Five-Fingered Robot Hand Based on Pneumatic Flexible Joint

Abstract:

Design and analysis of a five-fingered robot hand is presented. The robot hand has five multi-actuated fingers each with three flexible joints. Each joint is designed using a novel flexible mechanism based on elongation pneumatic artificial muscle. Its high flexibility and inherent compliance make them ideally suited for delicate tasks, e.g. grasp, pinch, and nip. Furthermore, this paper established the mathematical models to simulate the behavior of grasping; get the relationship between air pressure as well as position and posture of fingers. In view of all characteristics five-fingered robot hands are very well suited for automation and robotic applications.

• Periodical: Applied Mechanics and Materials (Volumes 44-47)
• Pages: 2883-2887
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.44-47.2883
• Online since: December 2010
• Authors: De Xu Geng, Ji Zhao, Lei Zhang, Yun Wei Zhao
• Keywords: Flexible Joint, Pneumatic, Position, Posture, Robot Hand

References

[1] D P Ferris, J M Czerniecki, B Hannaford: Journal of Applied Biomechanics Vol. 21 (2005), pp.189-197.

[2] N Saga, T Saikawa: Journal of Advanced Robotics Vol. 2 (2003), pp.729-734.

[3] T Okada: Computer control of multi-jointed finger system for precise object-handling, IEEE Trans. Syst. Man Cybernet. (1982), pp.289-299.

DOI: 10.1109/tsmc.1982.4308818

[4] H Hanafusa, H. Asada: A robotic hand with elastic fingers and its application to assembly process, MIT Press, (1982), pp.337-360.

[5] M T. Mason, J K. Salisbury: Robot Hands and the Mechanics of Manipulation, MIT Press, (1985).