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.
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Zhang, L., Wang, Z., Yang, Q., Shao, T., Bao, G. (2008). Kinematics Model and Simulation of 5-DOF Finger Based on Flexible Pneumatic Actuator. In: Li, D. (eds) Computer And Computing Technologies In Agriculture, Volume II. CCTA 2007. The International Federation for Information Processing, vol 259. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-77253-0_6
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