Research on Image Vectorization Based on Dual-Thumb Pneumatic Flexible Robot Hand

Shao Song Wan; Jian Cao; Qun Song Zhu; Cong Yan

doi:10.4028/www.scientific.net/AMR.989-994.3181

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 989-994Research on Image Vectorization Based on...

Research on Image Vectorization Based on Dual-Thumb Pneumatic Flexible Robot Hand

Abstract:

Because the traditional linear vectorization methods have some shortcomings including processing data slowly, being sensitive to noises and being easy to be distorted. Fuzzy rules and its inference mechanism are the assurance of achieving feature fusion. This paper has a design and analysis on the dual thumb pneumatic flexible robot hand base on the active flexible bending joints we have developed. The flexible joint is composed of four elongation artificial muscles with parallel arrangement. The robot hand has five multi-actuated fingers each with three flexible joints. To improve the flexibility and stability of grasp, the other four fingers are orthogonal and symmetrical except the middle finger, which forms the dual thumb oriented grasp model. Furthermore, we study on the position and posture of fingers applying the parameterized homogeneous transformation to the large deformation and nonlinear problems of flexible joint.

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Periodical:

Advanced Materials Research (Volumes 989-994)

Pages:

3181-3184

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.989-994.3181

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Online since:

July 2014

Authors:

Shao Song Wan*, Jian Cao, Qun Song Zhu, Cong Yan

Keywords:

Expert System, Grasp, Image, Robot Hand

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