KINEMATICS MODEL AND SIMULATION OF 5-DOF FINGER BASED ON FLEXIBLE PNEUMATIC ACTUATOR

机译：基于柔性气动机构的五自由度运动学模型及仿真

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Based on flexible pneumatic bending joint and flexible pneumatic spherical joint, a kind of flexible pneumatic 5-DOF finger is proposed, which is composed of two bending joints and a spherical joint. The mathematic model of flexible pneumatic spherical joint is further analyzed. On the researching foundation of flexible pneumatic bending joint and flexible pneumatic spherical joint, the kinematics equation of the 5-DOF finger is deduced. And the redundancy problem of the inverse kinematics solution is resolved by genetic algorithm. The simulation experiment illustrates that genetic algorithm for solving of inverse kinematics is feasible and effective.

机译：在柔性气动弯曲接头和柔性气动球形接头的基础上，提出了一种由两个弯曲接头和一个球形接头组成的柔性气动5自由度指。进一步分析了柔性气动球形接头的数学模型。在柔性气动弯曲接头和柔性气动球形接头的研究基础上，推导了五自由度指形件的运动学方程。通过遗传算法解决了逆运动学解的冗余问题。仿真实验表明，遗传算法求解逆运动学是可行和有效的。

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来源
《IFIP(International Federation for Information Processing) TC 12 International Conference on Computer and Computing Technologies in Agriculture(CCTA 2007); 20070818-20; Wuyishan(CN)》|2007年|P.777790|共2页
会议地点 Wuyishan(CN)
作者
Libin Zhang; Zhiheng Wang; Qinghua Yang; Tiefeng Shao; Guanjun Bao;
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作者单位

The MOE Key Laboratory of Mechanical Manufacture and Automation, Zhejiang University of Technology, Hangzhou, Zhejiang, China, 310032;

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会议组织
原文格式 PDF
正文语种 eng
中图分类电子技术、计算机技术在农业上的应用;
关键词
flexible pneumatic finger; flexible pneumatic actuator; flexible pneumatic bending joint; flexible pneumatic spherical joint;

机译：柔性气动指形件;柔性气动执行器;柔性气动弯曲接头;柔性气动球形接头;

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4. KINEMATICS MODEL AND SIMULATION OF 5-DOF FINGER BASED ON FLEXIBLE PNEUMATIC ACTUATOR [C] . Libin Zhang, Zhiheng Wang, Qinghua Yang, IFIP TC 12 International Conference on Computer and Computing Technologies in Agriculture . 2008

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KINEMATICS MODEL AND SIMULATION OF 5-DOF FINGER BASED ON FLEXIBLE PNEUMATIC ACTUATOR

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