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
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;
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
DOI :
10.1109/ICIE.2010.210
