Design and control of integrated pneumatic dexterous robot finger |
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| Authors: | Zhi-heng Wang Li-bin Zhang Guan-jun Bao Shao-ming Qian and Qing-hua Yang |
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| Affiliation: | (1) Mechanical Engineering, Stanford University, Building 560, 424 Panama Mall, 94305-2232 Stanford, CA, USA;(2) Division of Engineering and Applied Sciences, Harvard University, Pierce Hall, 29 Oxford St., 02138 Cambridge, MA, USA;(3) Department of Mechanical Engineering, University of Utah, 50 S. Central Campus, 2120 MEB, 84112-9208 Salt Lake City, UT, USA |
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| 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 solve the inverse kinematics problem of the redundant finger. The statics of the finger was analyzed
and the relation between fingertip force and joint torque was built. Finally, the finger force/position control principle
was introduced. Tracking experiments of fingertip force/position were carried out. The experimental results show that the
fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N. It is also concluded
from the theoretical and experimental results that the finger can be controlled and it has a good application prospect. |
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| Keywords: | pneumatic dexterous finger flexible pneumatic actuator （FPA） robot multi-fingered dexterous hand bending joint sidesway joint |
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