Study on the Articulated Finger Based on Pneumatic Soft Joint

Authors

  • Kai Shi Pneumatic Center, Harbin Institute of Technology, Harbin, China https://orcid.org/0000-0002-0922-0152
  • Huayi Zheng Beijing Institute of Precision Electromechanical Control Equipment, Beijing, China
  • Jun Li Pneumatic Center, Harbin Institute of Technology, Harbin, China
  • Gang Bao Pneumatic Center, Harbin Institute of Technology, Harbin, China

DOI:

https://doi.org/10.13052/ijfp1439-9776.2226

Keywords:

Soft joint, pneumatic, finger actuator, silicon

Abstract

This article described a novel pneumatic soft joint used to make articulated soft fingers. This soft joint was designed by improving the basic structure of the fast pneumatic network. The joint was made of high modulus E630 silicon, which can increase the reverse exhaust speed through its high structural elasticity. Aramid fabric was used to restrain the non-working direction of joints to reduce ineffective expansion, thereby reducing air consumption. The kinematics and statics model of the joint was established by the piecewise constant curvature (PCC) method, and the model was proved to be effective. The silicone staging pouring process was used in the manufacture of joints and fingers, which can achieve high-quality product rates. A soft finger actuator composed of three soft joints was designed and manufactured, whose length was 1.3 times the human finger. The finger can nimbly achieve the target motion, and the gripping force of the fingertip can reach 7.1N. The articulated soft finger actuator has applications in soft dextrous hands and soft gripper.

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Author Biographies

Kai Shi, Pneumatic Center, Harbin Institute of Technology, Harbin, China

Kai Shi was born in 1990. He received the BSE degree in 2014 and the MSME in 2016 from Harbin Institute of Technology. He is studying towards his Ph.D. in the area of fluid-driven soft robot at Harbin Institute of Technology.

Huayi Zheng, Beijing Institute of Precision Electromechanical Control Equipment, Beijing, China

Huayi Zheng was born in 1978. He received the BSE degree in 2001 and the MSME in 2004 from Beihang University. He currently works at the Beijing Institute of Precision Electromechanical Control Equipment and he served as the project leader. His research activities are fluid and mechanical transmission, servo control technology.

Jun Li, Pneumatic Center, Harbin Institute of Technology, Harbin, China

Jun Li was born in 1972. He received the M.S. and Ph.D. degrees in mechanical engineering in Harbin Institute of Technology, China, in 1995 and 1999, respectively. From 2001 to now, he is an Associate Professor at Harbin Institute of Technology. His research activities are fluid-driven soft robot, physical simulation experiment systems.

Gang Bao, Pneumatic Center, Harbin Institute of Technology, Harbin, China

Gang Bao was born in 1960. He received the M.S. and Ph.D. degrees in mechanical engineering in Harbin Institute of Technology in 1986 and 1992, respectively. He is the dean of Pneumatic Center of Harbin Institute of Technology. His research activities are pneumatic components and systems, physical simulation experiment systems, and virtual assembly technology.

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Published

2021-05-31

Issue

Section

GFPS 2020