A Design and Analysis on Dual Thumb Pneumatic Flexible Robot Hand Base on Active Flexible Bending Joints

Abstract

Conventional Proportional Integral Derivative (PID) control is often used in present industrial field. Fuzzy rules and its inference mechanism are the assurance of achieving feature fusion. The flexible joint is composed of four elongation artificial muscles with parallel arrangement. The robot hand has five multi-actuated fingers each with three flexible joints. Because the control parameters are fixed, the tuning results are difficult to meet the demands and the system is unstable or even out of control. This paper has a design and analysis on the dual thumb pneumatic flexible robot hand base on the active flexible bending joints we have developed. In this paper, Matlab is used to confirm that the fuzzy control system has good adaptability and anti-jamming capability.