Research On Robot Hand Of Flexible Joint Based On The Pneumatic Composite Elastomer

With the social development and scientific technology progresses,numerous flexible robot hands are required for the loading or unloading as well as theassembling the industrial products, military robots, agricultural robots, service robotsor the disabled persons who lost their hands. Thus, the humanoid robot hand with highflexibility has attracted increasing attention; research and development of humanoidrobot hand have important academic value and application prospect.The robot hand completes the grasp operation by controlling the air pressure ofthe joint to achieve the deformation of the finger. The humanoid robot hand imitatesthe both shape and function of human hand as much as possible. To improve theflexibility and compliance of the robot hand, we develop a new type of pneumaticartificial muscles with elongation and torsion, furthermore, we develop themuti-directional bending flexible joint which noumenon as well as driving systemcombined into one and single bending joint with good transversal stability. Weestablished the mechanics model on pneumatic artificial muscle and two types offlexible joints get the mechanical properties of them, then the statics experiments weredone to verify the theoretical model.We design the structure of the humanoid robot hand based on bionic principles,the humanoid robot hand has five fingers and each finger is composed by threeflexible joints. The base joint of index finger and other fingers except for the thumbemploy muti-directional bending flexible joint, both the proximal joint and the distaljoint employ single bending joint. The Series connection of the joints leads to theflexion, extension, abduction and adduction. The base joint and proximal joint employthe muti-directional bending flexible joint and the distal joint employ single bendingjoint which achieve the bending and swinging in any direction. The humanoid robothand can complete grasp, grip, push and dial and screw with the cooperation of all thefingers. We analyse on the grasp force of the robot hand by means of studying theclamping force of the fingers. The clamping force experiments have been done using dynamometer to verify the theoretical model.The flexible joints are pneumatic composite elastomer, resulting the complicatedkinematics and dynamics performance of the humanoid robot hand. We establish thekinematic equations of the robot hand using homogeneous transformation, then wehave the kinematics simulation on the robot hand and analyze the workspace of therobot hand, moreover, the grasp operation to different shapes of objects was simulatedwhich verify the flexibility and function of the robot hand. We study the naturalfrequency of the artificial muscle, flexible joints and the finger according to to theirdynamic models. The dynamic experiments have been done on the kineticexperimental apparatus, which provides a basis for the control model of the robothand. At the same time, we propose the grasp strategy and the corresponding controlscheme, the grasp experiments to different shape objects were done on the pneumaticcontrol platform of the robot hand to verify the function of the robot hand.The research of thesis presents the ideal solution for the bionic flexible robothand, and lays a theoretical and experimental basis for the application of the robothand.