Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure
Abstract
:1. Introduction
2. The Structure Design of the Soft Gripper
2.1. Structure Design of Soft Finger Driver
2.2. Production of Soft Gripper
3. Rigid-Flexible Coupling Bionic Hand Mechanics Modeling and Simulation Analysis
3.1. Statics Analysis of Soft Human-like Fingers
- (1)
- Silicone rubber materials are homogeneous and incompressible;
- (2)
- The restrictive layer used is not extensible;
- (3)
- The width and height of the drive remain unchanged under the action of the confinement layer.
3.2. Finite Element Simulation Analysis of Soft Driver
4. Design of Bionic Gripping Hand Control System
4.1. Design of Pneumatic Control System Based on Motor Micropump
4.2. Design of Bionic Hand Soft Control System Based on LabView
5. Experimental Analysis
5.1. Soft Thumb Bending Performance Experiment
5.2. Soft Four-Finger Performance Analysis
5.3. Bionic Hand Grasping Experiment and Humanoid Gestures
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Parameter | Numerical Range |
---|---|
Hardness (A) | 20 ± 2 |
Tensile strength (MPa) | 6.5 |
Tear strength (kN/m) | 28 ± 2 |
Mixing ratio (A:B) 1 | 1:1 |
Room temperature curing time (h) | 4 |
Air Pressure | 0 Kpa | 10 Kpa | 20 Kpa | 30 Kpa | 40 Kpa | 50 Kpa | 60 Kpa |
---|---|---|---|---|---|---|---|
No ring restriction | 0° | 4° | 15° | 34° | 48° | 63.5° | 78.5° |
limited | 0° | 5° | 18° | 40° | 60° | 74° | 90° |
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Chen, C.; Sun, J.; Wang, L.; Chen, G.; Xu, M.; Ni, J.; Ramli, R.; Su, S.; Chu, C. Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure. Materials 2022, 15, 1358. https://doi.org/10.3390/ma15041358
Chen C, Sun J, Wang L, Chen G, Xu M, Ni J, Ramli R, Su S, Chu C. Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure. Materials. 2022; 15(4):1358. https://doi.org/10.3390/ma15041358
Chicago/Turabian StyleChen, Chang, Jiteng Sun, Long Wang, Guojin Chen, Ming Xu, Jing Ni, Rizauddin Ramli, Shaohui Su, and Changyong Chu. 2022. "Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure" Materials 15, no. 4: 1358. https://doi.org/10.3390/ma15041358