Design and Research of Flexible Manipulator Finger Based on OHM

Applied the artificial muscle based on oil hydraulic to design flexible manipulator finger joint. Builded mathematical model to express the relation among the structure parameters, workplace and dynamical features of the driving joints. According to the characteristic of flexible hydraulic components and the arrangement of the flexible components in driven band, proposed the driven principle to control the movement of flexible finger in different ways. Laid a theoretical foundation for practical application.