Design and control of integrated pneumatic dexterous robot finger

作     者：王志恒 张立彬 鲍官军 钱少明 杨庆华 

作者机构：Key Laboratory of Special Purpose Equipment and Advanced Processing TechnologyMinistry of Education and Zhejiang ProvinceZhejiang University of Technology 

基　　金：Project(2009AA04Z209) supported by the National High Technology Research and Development Program of China Project(R1090674) supported by the Natural Science Foundation of Zhejiang Province,China Project(51075363) supported by the National Natural Science Foundation of China 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2011年第18卷第4期

页      码：1105-1114页

摘      要：Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was *** finger is equipped with one five-component force sensor and four contactless magnetic rotary *** parts and FPAs are integrated,which reduces the overall size of the *** by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively *** improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant *** statics of the finger was analyzed and the relation between fingertip force and joint torque was ***,the finger force/position control principle was *** experiments of fingertip force/position were carried *** experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 *** is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.

主 题 词：pneumatic dexterous finger flexible pneumatic actuator (FPA) robot multi-fingered dexterous hand bending joint sidesway joint 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 0805[工学-能源动力学] 0802[工学-机械学] 0801[工学-力学类] 0702[理学-物理学类] 

核心收录：

D　O　I：10.1007/s11771-011-0810-7

馆 藏 号：203420014...