High Grasp Ability Artificial Muscle Flexible Robot Design and Verification

doi:10.3901/JME.2023.17.089

Abstract

Abstract: In response to the existing flexible robotic scope and small load capacity, this article designed a four-finger flexible robot with an adjustable angle of installation angle. Based on the energy method, the static analysis and verification of bending artificial muscles have been performed. The maximum curved angle of the single actuator can reach 151°, the maximum output force is 3.2 N, and the average error of the actuator's static model is 5.25% and 8.13%, respectively. Further, the design four-finger flexible robotic player completed the crawling experiment for objects of different shapes and sizes. The results show that the maximum grabbing object of the robot is 1 050 g, the maximum size is f226 mm, and the maximum bending angle of the single-rooted actuator in the crawling experiment is 93°. The robots designed in this article have stable grasping performance and can achieve stable grasping daily items.

Key words: four-finger flexible manipulator, pneumatic bending artificial muscle, high gripping ability, static characteristics, grabbing experiment

CLC Number:

TG156

DU Hongwang, XU Xiaoya, SHAO Renbo, XIONG Wei, WANG Haitao. High Grasp Ability Artificial Muscle Flexible Robot Design and Verification[J]. Journal of Mechanical Engineering, 2023, 59(17): 89-96.

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