Research on Adaptive Multi-contract Grasping Model of Flexible Pneumatic Finger

被引：0
|
作者：
Qian, Shaoming [1 ]
Zhang, Libin [1 ]
Yang, Qinghua [1 ]
Bao, Guanjun [1 ]
Wang, Zhiheng [1 ]
Qi, Liyong [1 ]
机构：
[1] Zhejiang Univ Technol, MOE Key Lab Mech Mfg & Automat, Hangzhou, Zhejiang, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词：
flexible pneumatic finger; multi-contract; output force; fruit picking; ARTIFICIAL MUSCLES;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to eliminate twisting deformation of the flexible pneumatic finger, the mechanical structure of the pneumatic finger is improved and a rigid chain component is designed for it. The flexible finger automatically adapts well to the irregular shape of grasping object. The change of the pressure value of the compressed air in the flexible finger and the output force of the finger when grasping objects are analyzed when the finger grasping object, and the mathematic models are built up. Due to multi-contract between the object and the pneumatic finger, the flexible linger can be used to steadily hold object, and the force acting on the object will be not concentrated on several touch points, which is contributed to protect them from mechanical damage. The flexible finger can be used in fruit picking. It is feasible to grasp object steadily by pneumatic flexible finger when we only know the basic shape of an object without details.
引用
收藏
页码：2823 / 2828
页数：6
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