Kinect Pneumatic Hand Manipulator With Artificial Muscle Control
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Solution Overview
Problem
Traditional robot human-computer interaction methods, such as joystick or button operations, are cumbersome and inefficient, consuming excessive energy and lacking flexibility due to complex structures and high friction in joint-drive mechanisms, which limits their accuracy and adaptability.
Innovation Solution
A remotely operated pneumatic manipulator based on Kinect, incorporating a Kinect sensor, PWM piezoelectric pneumatic ratio valve, artificial muscle, and 3D printed finger joints, utilizing ANFIS algorithm for control, to achieve precise and flexible movement with reduced energy consumption and compact design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional joint-drive mechanisms are used, then position control accuracy can be achieved, but energy consumption increases due to large number of mechanisms and friction
Solution Approach 1:
The patent replaces traditional mechanical joint-drive mechanisms with a pneumatic artificial muscle system. The pneumatic muscle acts directly on the finger joint without complex transmission mechanisms, eliminating friction losses and reducing energy consumption while maintaining position control accuracy through pneumatic pressure regulation.
Solution Approach 2:
The patent uses pneumatic artificial muscles as the actuation mechanism for finger joints. By controlling pneumatic pressure, the system achieves precise position control with significantly reduced energy consumption compared to mechanical drive systems, as pneumatic systems have no friction between moving mechanical parts.
2Measurement precision
If traditional joint-drive mechanisms are used, then position control can be achieved, but structure becomes complex and external volume increases
Solution Approach 1:
The patent replaces complex mechanical transmission mechanisms with a direct pneumatic actuation system. The pneumatic artificial muscle connects directly to the finger joint, eliminating the need for gears, belts, or other transmission components, thereby simplifying the overall structure while maintaining control accuracy.
Solution Approach 2:
The patent employs flexible pneumatic muscles instead of rigid mechanical components. These flexible actuators can be integrated directly into the manipulator structure, reducing external volume and simplifying the overall device configuration while maintaining the ability to achieve precise position control.
3Power
If traditional mechanical drive mechanisms are used, then power transmission can be achieved, but energy loss increases due to friction
Solution Approach 1:
The patent uses pneumatic transmission to deliver power directly to the finger joints. The pneumatic system transmits power through compressed air to the artificial muscles, eliminating mechanical friction and achieving high power transmission efficiency with minimal energy loss.
Solution Approach 2:
The patent substitutes mechanical power transmission mechanisms with pneumatic actuation. By using pneumatic artificial muscles, the system achieves direct power transmission to the joints without intermediate mechanical components, thereby eliminating friction losses and improving overall energy efficiency.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides a compact, flexible, and energy-efficient robotic arm with high detection accuracy and resistance to electromagnetic interference, capable of precise position control and wide-range movement, suitable for complex tasks and remote operation.
Implementation Method 1
pneumatic input interface of the PWM piezoelectric pneumatic ratio valve is connected to the pneumatic triad by tube, input interface of the pneumatic triad is connected to the air compressor
Implementation Method 2
PWM (Pulse Width Modulation) piezoelectric pneumatic ratio valve
Implementation Method 3
the artificial muscle adopts pneumatic muscle, pneumatic output interface of the PWM piezoelectric pneumatic ratio valve is connected to the artificial muscle by flexible pipe, the other end of the artificial muscle is connected to the finger joint of the manipulator by rope
Implementation Method 4
the spring is arranged in internal groove of the finger joint, two ends of the spring are connected to and fixed with a convex in the groove by compression
Implementation Method 5
each pixel on images returned by the camera using Kinect sensor represents the distance of the point from the camera in mm
Data Source
AI summary
The invention disclosure a remotely operated pneumatic manipulator based on Kinect, comprising Kinect sensor, computer, D/A embedded board, PWM piezoelectric pneumatic ratio valve, pneumatic triad, air compressor, artificial muscle, spring and finger joint, wherein the Kinect sensor is provided on one side of the finger joint, a camera module of the Kinect sensor is faced to the finger joint. The pneumatic humanoid manipulator of the invention has basically the same dimensions as human hands, can achieve human-computer interaction and remotely operation, the transmission structure thereof is novel, simple and compact, the fingers thereon are convenient to control and flexible to move, the finger movement range is large for wide application, moreover, the PWM piezoelectric pneumatic ratio valve is with advantages of fast dynamic response, low cost, strong resistance to noise, and high detection accuracy of Kinect sensor.