Abstract
The middle joint of the finger in traditional multi-finger hand has no ability of bending and side swing motion. To solve this problem, this paper proposes a double-fluid drive method: the double-fluid drive realizes the multi-joint coupling bending, coupling side swing and bending and side swing motion of the finger. A double-fluid bending and side-swing multi-joint robot finger (DFBS finger) was developed. The DFBS finger consists of two independent fluid routes that run through all joints and are driven by double fluids, three phalanx and three joint springs. The force change assembly is mainly composed of a spring and a balloon. The spring and the balloon are coordinated to make the fingers stably grasp. The double fluid bending and side swing multi-joint finger can be forwardly bent for forward adaptive grasping, lateral adaptive grasping to the side, and grasping in different direction from left to right. The theoretical analysis and experimental results show that the DFBS fingers can realize the envelope grasping for different shapes and sizes.
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Kong, W., Zhang, W. (2019). Double-Source Fluid Bending and Side-Swing Compound Multi-joint Finger. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_58
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DOI: https://doi.org/10.1007/978-3-030-27541-9_58
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