Dexterous Robot’s Finger Actuated by Pneumatic Artificial Muscle

Bing Jing Guo; Kai Wang

doi:10.4028/www.scientific.net/AMR.383-390.920

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390Dexterous Robot’s Finger Actuated by Pneumatic...

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.

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Manufacturing Science and Technology, ICMST2011

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Periodical:

Advanced Materials Research (Volumes 383-390)

Pages:

920-924

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.383-390.920

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Online since:

November 2011

Authors:

Bing Jing Guo, Kai Wang

Keywords:

Bionic, Dexterous Finger, Mechatronic, Pneumatic Artificial Muscle (PAM), Robot

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