Structural Design and Position and Posture Analysis of Five-Fingered Robot Hand Based on Pneumatic Flexible Joint

Abstract

Design and analysis of a five-fingered robot hand is presented. The robot hand has five multi-actuated fingers each with three flexible joints. Each joint is designed using a novel flexible mechanism based on elongation pneumatic artificial muscle. Its high flexibility and inherent compliance make them ideally suited for delicate tasks, e.g. grasp, pinch, and nip. Furthermore, this paper established the mathematical models to simulate the behavior of grasping; get the relationship between air pressure as well as position and posture of fingers. In view of all characteristics five-fingered robot hands are very well suited for automation and robotic applications.

Dynamics Investigation on Bidirectional Active Flexible Bending Joints

“…In previous research, we developed the newly bidirectional active bending flexible joints to improve the flexibility of the joint and to ensure the compact of structure. The flexible joint is mainly constructed by the pneumatic artificial muscles, and the most important is that the joint itself and the actuator are compounded as one [6]. As shown in Fig.…”