14 Degree IPMC Flexible Manipulator for Grasping

Firstly, the physiological structure of human hand is analyzed to extract the basic structure to ensure the movement of human hand. Then a 14 DOF bionic flexible manipulator based on IPMC actuator is designed. The manipulator adopts the integrated soft and hard forming technology, and the connection and assembly relationship between IPMC and phalanx is introduced. Finally, The grasping ability of the manipulator is tested. The experimental results show that the maximum diameter of envelope grasping increases with the increase of the number of joints, and the manipulator can grasp and pinch objects with the same weight and different shapes. In the test, the manipulator shows good flexibility and adaptability, which conforms to the action law of human hand.