Kinematics Model and Simulation of 5-DOF Finger Based on Flexible Pneumatic Actuator

  • Libin Zhang
  • Zhiheng Wang
  • Qinghua Yang
  • Tiefeng Shao
  • Guanjun Bao
Part of the The International Federation for Information Processing book series (IFIPAICT, volume 259)

Based on flexible pneumatic bending joint and flexible pneumatic spherical joint, a kind of flexible pneumatic 5-DOF finger is proposed, which is composed of two bending joints and a spherical joint. The mathematic model of flexible pneumatic spherical joint is further analyzed. On the researching foundation of flexible pneumatic bending joint and flexible pneumatic spherical joint, the kinematics equation of the 5-DOF finger is deduced. And the redundancy problem of the inverse kinematics solution is resolved by genetic algorithm. The simulation experiment illustrates that genetic algorithm for solving of inverse kinematics is feasible and effective.

Keywords

flexible pneumatic finger flexible pneumatic actuator flexible pneumatic bending joint flexible pneumatic spherical joint 

References

  1. Caffaz, Cannata G. The Design and Develoopment of the DIST-Hand Dextrous Gripper [J]. Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium. 1998:2075-2080.Google Scholar
  2. Hirzinger G., Fischer M., Brunne B. Advances in Robotics: The DLR Experience [J]. The International Journal of Robotics Research, 1999, 18(1): 1064-1087.CrossRefGoogle Scholar
  3. Hui Shao, Kenzo Nonamib, Tytus Wojtara, etc. Neuro-fuzzy position control of demining tele-operation system based on RNN modeling [J]. Robotics and Computer-Integrated Manufacturing, 2006, 22: 25-32.CrossRefGoogle Scholar
  4. Libin Zhang, Guanjun Bao, Qinghua Yang, Jian Ruan and Liyong Qi. Static Model of Flexible Pneumatic Bending Joint, Proceeding of the 2006 9th Int. Conf. Control,Google Scholar
  5. Automation, Robotics and Vision, Singapore, 2006.12: 1749-1753.Google Scholar
  6. Lovchik C. S., MDifler M. A. The Robonaut Hand: A Dextrous Robotic Hand for Space [J]. Proceedings for the IEEE International Conference on Robotics and Automation. Detroit, Michigan, 1999: 907-912.Google Scholar
  7. Mason M. T., Salisbury J. K. Robot Hands and the Mechanics of Manipulation [J]. MIT Press, Cambridge, USA, 1985: 3-93.Google Scholar
  8. Nakano Y., Fujie M., Hosada Y. Hitachi’s Robot Hand [J]. Robotics Age, 1984, 6(7): 18-20.Google Scholar
  9. Okada T. Computer control of multi-jointed finger system for precise object-handing [J]. IEEE Transactions on Systems, Man and Cybernetics, 1982, 12(3): 289-299.CrossRefGoogle Scholar
  10. P. Kalra, P.B. Mahapatra, D.K. Aggarwal. An evolutionary approach for solving the multimodal inverse kinematics problem of industrial robots [J]. Mechanism and Machine Theory, 2006, 41: 1213-1229.CrossRefGoogle Scholar
  11. Rasit Koker, CemilOza, Tarık, etc. A study of neural network based inverse kinematics solution for a three-joint robot [J], Robotics and Autonomous Systems 2004, 49: 227-234.CrossRefGoogle Scholar
  12. Shang Xisheng, Guo Weidong, Zhan Hao, etc, Grasp Planning and Realization of BH-4 Dexterous Hand [J], Robot, 2000, 22(7): 608-612 (in Chinese).Google Scholar
  13. Wang Guoqing, Zhang Qixian, Li Dazhai, He Yongqiang, Grasping Control of the Dexterous Hand Based on the Degree of Stability of Grasping [J]. Acta Aeronautica Et Astronautica Sinica, 1997, 18(3): 294-298 (in Chinese).Google Scholar
  14. Yang Qinghua, Research on Flexible Pneumatic Joints and Their Application Based on Flexible Pneumatic Actuator, Dissertation for Doctor’s Degree in Engineering of Zhangjiang University of technology, 2005 (in Chinese).Google Scholar
  15. Yang Qinghua, Zhang Libin, Bao Guanjun, Ruan Jian, Pneumatic Squirming Robot Based on Flexible Pneumatic Actuator, Proceedings of SPIE ICMIT2005: Control Systems and Robotics, Sept. 2005, Vol. 6042: 60422w-1-60422w-5.Google Scholar
  16. Zhang Peiyan, Lv Tiansheng, Song Libo, Study on BP Networks-based Inverse Kinematics of Motoman Manipulator [J], Mechanical & Electrical Engineering Magazine, 2004, 20(2): 56-58 (in Chinese).Google Scholar

Copyright information

© IFIP International Federation for Information Processing 2008

Authors and Affiliations

  • Libin Zhang
    • 1
  • Zhiheng Wang
    • 1
  • Qinghua Yang
    • 1
  • Tiefeng Shao
    • 1
  • Guanjun Bao
    • 1
  1. 1.Zhejiang University of TechnologyChina

Personalised recommendations