Research on adaptive multi-contract grasping model of flexible pneumatic finger

In order to eliminate twisting deformation of the flexible pneumatic finger, the mechanical structure of the pneumatic finger is improved and a rigid chain component is designed for it. The flexible finger automatically adapts well to the irregular shape of grasping object. The change of the pressure value of the compressed air in the flexible finger and the output force of the finger when grasping objects are analyzed when the finger grasping object, and the mathematic models are built up. Due to multi-contract between the object and the pneumatic finger, the flexible finger can be used to steadily hold object, and the force acting on the object will be not concentrated on several touch points, which is contributed to protect them from mechanical damage. The flexible finger can be used in fruit picking. It is feasible to grasp object steadily by pneumatic flexible finger when we only know the basic shape of an object without details.