DocumentCode
2066191
Title
Design and Research of Flexible Manipulator Finger Based on OHM
Author
Yu, Ping ; Wei, Xing ; Zhang, Cui ; Liu, Dongyu ; Zhou, Anming
Author_Institution
Coll. of Mech. Sci. & Eng., Jilin Univ., Changchun, China
Volume
3
fYear
2010
fDate
14-15 Aug. 2010
Firstpage
136
Lastpage
139
Abstract
Applied the artificial muscle based on oil hydraulic to design flexible manipulator finger joint. Builded mathematical model to express the relation among the structure parameters, workplace and dynamical features of the driving joints. According to the characteristic of flexible hydraulic components and the arrangement of the flexible components in driven band, proposed the driven principle to control the movement of flexible finger in different ways. Laid a theoretical foundation for practical application.
Keywords
dexterous manipulators; flexible manipulators; manipulator dynamics; motion control; pneumatic actuators; artificial muscle; flexible finger movement control; flexible hydraulic components; flexible manipulator finger joint; oil hydraulic muscle; Equations; Fingers; Fluids; Joints; Manipulators; Mathematical model; Muscles; Driven band; Finger joint; Joint hydraulic components; OHM;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Engineering (ICIE), 2010 WASE International Conference on
Conference_Location
Beidaihe, Hebei
Print_ISBN
978-1-4244-7506-3
Electronic_ISBN
978-1-4244-7507-0
Type
conf
DOI
10.1109/ICIE.2010.210
Filename
5571695
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