Multi-fingered Dexterous Humanoid Mechanical Hand Driven By Pneumatic Fan-shaped Flexible Joints

In order to meet the high requirements of the flexibility,safety and dexterity for the service robots when interacting with human,one kind of fan-shaped flexible joint driven by pneumatic power is proposed based on bionics theory,and a multi-finger dexterous humanoid hand is fabricated modularly with the structure similar to human hands.The design concept of flexible joint driving and rigid hand skeleton is adopted to balance the stiffness and flexibility of the hand.The fan-shaped flexible joint manipulator proposed in this paper not only simulates the structure of human hand,but also combines the 3D printing technology and the pouring process of silicone rubber to complete the production of rigid skeleton of the humanoid manipulator and the pouring of fan-shaped flexible joint.The humanoid robot hand proposed in this paper can bend five fingers in each required.Through being supplied air independently,and the bending angle of the root joint,middle joint and phalangeal joint of each finger can be independently controlled.Each finger is regulated by two pneumatic proportional pressure regulating valves to and installed two rotating angle position sensors to detect the bending Angle of the finger.By measuring the angle of the joints and adjusting the value of the air supply pressure,the bending angle of the finger joints and the grasping force of the fingers are continuously controlled.The working principle and structural design characteristics of fan-shaped flexible joints are described in detail.In this paper,kinematics modeling of humanoid manipulator is completed based on the homogeneous coordinate transformation matrix of serial robot,and the joint space of fan-shaped flexible joint is simulated with Matlab software.The control experiments of the humanoid manipulator and the collection of relevant data information are completed by using the semiphysical experimental simulation platform of LINKS.At last,the pneumatic driving system,attitude data acquisition system and control system of the humanoid manipulator were built to conduct the grasping action and gesture of human hand with the experimental platform.Experimental verification shows that the humanoid manipulator developed and proposed in this paper can complete the grasping of daily objects and basic gestures.