Research on an under-actuated robotic hand driven by pneumatic muscle actuator
Aimed at the flexibility and dexterity requirement, an under-actuated robotic hand with humanoid multifinger is introduced in this paper. Referring to the bionics principle and the tendon drive of human, the structure of robotic hand driven by pneumatic muscle actuator is designed. The mathematical model and single neuron adaptive PID arithmetic are described. By use of the touch force and angular sensors, fingers motion trajectory can be controlled smoothly. The experimental results show that the robotic hand has many advantages such as compact structure, lightweight and high flexibility.
Under-actuated robotic hand Pneumatic muscle actuator Motion trajectory Single neuron adaptive PID controller
Bingjing Guo Shushang Zhao Jianhai Han Detao Fang
School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang, Henan, China
国际会议
杭州
英文
630-633
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）