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Academic Journal of Engineering and Technology Science, 2020, 3(5); doi: 10.25236/AJETS.2020.030506.

Design and Performance Test of the Soft Pneumatic Finger with Two Kinds of Air Cavities


Yan Zhang1, Hongjie Zhang1, * and Qi Zhang2

Corresponding Author:
Hongjie Zhang

1. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
2. Hangzhou Xiaoshan Technician College, Hangzhou 311200, China
*Corresponding author e-mail: zhanghj022@qq.com


To solve the problem of insufficient flexibility of the soft hand, this research proposes a new type of soft finger which consists of two kinds of air cavities. In this research, firstly, the structure of the newly proposed soft finger was determined, in which the root part of the finger adopts a series of low-speed deformation air cavities while the tip part of the finger adopts several fast-speed deformation air cavities. Secondly, the effects of the finger’s geometries on the deformation performance were studied based on the Abaqus, then the geometric parameters were selected. Finally, an ARM microcontroller-based system was developed to test the performance of the soft finger, and the test results were compared with those from the finite element analysis. The error analysis between the finite element analysis and the experimental test proves the effectiveness of the design method, laying a solid foundation for the application of the newly proposed soft finger.


soft robots, soft fingers, finger with two air cavities, mould pouring

Cite This Paper

Yan Zhang, Hongjie Zhang and Qi Zhang. Design and Performance Test of the Soft Pneumatic Finger with Two Kinds of Air Cavities. Academic Journal of Engineering and Technology Science (2020) Vol. 3 Issue 5: 38-50. https://doi.org/10.25236/AJETS.2020.030506.


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