Bending simulation research of large flexible dexterous finger
ZHANG Jian-chao，YANG Qing-hua，SHAO Tie-feng，BAO Guan-jun
（Key Laboratory of E&M Ministry of Education & Zhejiang Province，Zhejiang University of Technology，
Hangzhou 310032，China）
Abstract：Aiming at the problems of traditional dexterous robot hand such as insufficient of flexible bending degree，a new kind offlexible pneumatic bending joint，large flexible dexterous finger was proposed. In order to validate the correctness of large flexibledexterous finger angle curve of static model，firstly，the finger was equivalent to a cantilever beam，finger bending model under differentpressure was simulated by ANSYS software，the simulation curve was established between finger bending angle and cavity pressure，which
fits in the angle curve of static model. Then the data relationship between actual bending angle and actual cavity pressure fromexperimental research was obtained，and the contrast curve figure was gotten between theoretical curve and actual curve from sorting databy Matlab software.The results show that it is right of large flexible dexterous finger angle curve of static model，and these lay atheoretical foundation for later research of the finger.
Key words：large flexible dexterous finger；angle curve of static model；ANSYS；bending simulation