Design Of Structure And Control System Of Dexterous Hand Driven By Pneumatic Artificial Muscles

Pneumatic muscle is a new type of actuator,with good flexibility,high safety,high weight / power ratio,environmental protection and other advantages,so it is widely applied to service robot,bionic medicine and etc.In this paper,pneumatic artificial muscle is used as driver,and a dexterous hand with multiple freedoms is designed according to the characteristics of human hand.The motion of the dexterous finger is verified by experiments.The paper has a good theoretical research and engineering application significance.In this paper,the main work are as follows:According to the structure and movement principle of human hands,the multi-degree of freedom pneumatic dexterous hand is designed by using Structural design method.The size of the dexterous hand is two times the size of the hand,including the structure of the fingers,palm and wrist.With a finger as the research object,the forward kinematics analysis and inverse solution analysis,Jacobian analysis are performed.According to the results of the forward kinematics analysis,the rotational range of the finger joint design are as follows: the rotation range of the finger side-sway joint is 0 ° to 30 °,the rotation range of the near joint is 0° ~ 60°,the rotation range of the middle joint is 0 ° ~ 60 °,the rotation of the far joint The range is 0° to 45°.Using MATLAB to simulate the range of fingertip movement,the motion range was obtained in a 120*105*120 mm3 space.According to the working principle of the pneumatic circuit and the hardware environment,the pneumatic control circuit and hardware control system are designed.The pneumatic components and hardware are selected.The PID controller is used to track the response of the single joint.The interface of PC is designed.According to the pneumatic circuit and hardware control system,the pneumatic muscle dexterous finger test bench was built.The step response and sinusoidal response experiments were carried out on the joints based on the PC interface and the lower computer.The range of motion was obtained.The finger side sway joint movement angle is about 30 degrees,the near joint is about 59.55 degrees,the middle joint is about 60 degrees,and the far joint is about 44 degrees,which verify the rationality of the structure design of the dexterous finger.