Study on the Articulated Finger Based on Pneumatic Soft Joint

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.