Design And Characteristics Of Pneumatic Soft Humanoid Hand

Soft robot is the hot topic in the field of robotics research nowadays.Soft robots are composed of flexible materials and have infinite degree of freedom,which can be passively or actively deformed to adapt to complex environments,and have good application prospects.Soft grabbing robot is one of the important contents in the research of soft robots.This kind of soft robot can make use of the characteristics of their flexible materials to make large-scale contact with the target object,or even encapsulate the object,so as to reduce the damage of the object in process of grasping.According to the research and analysis of human hand structure,a soft bionic human hand driven by gas is proposed in this paper.The structure design,simulation,manufacture and grasping strategy of the soft bionic hand 's finger are also studied.Firstly,through the analysis of the hand structure,the structure of the soft finger is preliminarily designed.The soft finger is composed of a main structure with inflatable elongation and a bottom structure with limited elongation.It can bend unidirectionally through different strains.Mathematical model and material model of soft finger were established,and simulated by ABAQUS finite element analysis software.The effects of air pressure,air chamber size and air chamber number on the characteristics of soft finger were studied,and the relationship between them is analyzed.The strain characteristics of soft finger surface are also studied.Secondly,the mould for finger shape was designed,and the manufacturing process of soft finger was studied in detail.It also describes several key points in the preparation process,and many problems and solutions.The test platform of soft finger ventilation is designed,and different kinds of soft finger are made.Variable pressure regulating system is used to carry out ventilation test under different pressures,and deformation data under various parameters are obtained.Finally,the palm structure is designed and manufactured to complete the assembly of the soft bionic human hand;the design of various grasping schemes of the soft bionic human hand,the gesture design of the soft finger and the construction of the experimental test platform are completed;the gesture experiment,grasping experiment and transportation experiment are carried out.