Design Of Fuzzy PID Pneumatic Humanoid Flexible Finger Pose Control System

With the continuous development of robot technology,robots are used more and more in various fields,such as medical and industrial industries,the traditional wake-up manipulator versatility,flexibility is poor,can not meet the application needs,and flexible manipulator better flexibility and adaptability is becoming more and more popular.Usually flexible manipulator is made of flexible materials such as silica gel,and is driven by air pressure or hydraulic pressure.This paper analyzes the geometric structure of humanoid flexible hands,the fingers to establish mathematical model,draw a geometric parameters affect the performance of the fingers,finger according to the staffing size and mathematical model,get the finger concrete structure parameters,and designed a controller of finger,and finally to finger model and controller of control system for joint simulation,analysis and control system performance.According to the multi-cavity flexible finger bending theory,the size and structural parameters of the finger have important effects on the bending performance of the finger.Through the theoretical analysis of the humanoid flexible finger,mathematical modeling was established based on Yeoh model and the model was calculated.The structural parameters affecting the bending performance of the finger could be obtained.Combined with the simulation results,the specific parameters of the finger structure could be obtained,and finally the humanoid flexible finger was designed.According to the characteristics of humanoid pneumatic flexible fingers,the control speed and precision of flexible fingers can be improved by selecting appropriate control system.The fuzzy PID control is selected as the control system,the fuzzy PID controller is designed,the initial parameters of the fuzzy PID controller are set,the fuzzy PID controller suitable for the flexible finger system and the corresponding initial parameters and the range of parameter change can be obtained,and the control precision of the flexible finger system can be increased.The fuzzy PID controller was designed and its control performance was analyzed.According to the principle of fuzzy PID control,the control system model was established.MATLAB/Simulink and COMSOL were used to co-simulate the flexible finger system,and the control effect of the designed fuzzy PID controller was explored.