Mechanics-homogenization Algorithm and Optimization Design of the Flexible Manipulator Based on the Bionics

Abstract

Based on the bionics, in the light of human hand, a flexible manipulator is created with two parts: the thumb part and the four finger part. The compound-eye technique is adopted to set up multiple regions, and each region has a number of minute palm slices for control of the object to grasp and hold through the distribution of "quincuncial piles" of these slices. According to the object geometric shape feature and combination of the minute palm slices, such manipulator through the simulation is constructed by determination of the regional average pressure on all the minute palm slices, and by adjustment of working face with the pressurehomogenization method. Under control of PLC, the justification of the minute palm slices is done with different working heights for various geometric parameters of different objects, to ensure that each minute palm slice is with uniform load, high efficiency, guaranteeing the reliable grab and hold, uniform wear of the working face, and long service life.