Research on dual-thumb pneumatic flexible robot hand

摘要

This paper has a design and analysis on the dual thumb pneumatic flexible robot hand base on the active flexible bending joints we have developed. The flexible joint is composed of four elongation artificial muscles with parallel arrangement. The robot hand has five multi-actuated fingers each with three flexible joints. To improve the flexibility and stability of grasp, the other four fingers are orthogonal and symmetrical except the middle finger, which forms the dual thumb oriented grasp model. Furthermore, we study on the position and posture of fingers applying the parameterized homogeneous transformation to the large deformation and nonlinear problems of flexible joint; establish the mathematical models when the fingers bending, anti-stretching, abducent and adducent. The simulation and experiments verifies the model and the grasp capability of robot hand. The robot hand we developed has good flexibility and compliance, and easy to soft control, which provide a new way to solve the entire flexibility of robot hand.