|
|||||
|
|
Design and control of integrated pneumatic dexterous robot finger |
|
| Authors: | WANG Zhi-heng ZHANG Li-bin BAO Guan-jun QIAN Shao-ming YANG Qing-hua Key Laboratory of Special Purpose Equipment Advanced Processing Technology Ministry of Education Zhejiang Province Zhejiang University of Technology Hangzhou China |
| Affiliation: | WANG Zhi-heng,ZHANG Li-bin,BAO Guan-jun,QIAN Shao-ming,YANG Qing-hua Key Laboratory of Special Purpose Equipment and Advanced Processing Technology,Ministry of Education and Zhejiang Province,Zhejiang University of Technology,Hangzhou 310032,China |
| Abstract: | Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to s... |
| Keywords: | pneumatic dexterous finger flexible pneumatic actuator(FPA) robot multi-fingered dexterous hand bending joint side-sway joint |
| 本文献已被 CNKI 等数据库收录！ | |