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A novel flexible pneumatic actuator FPA is proposed in this paper. The structure and properties of FPA are described. Based on FPA, flexible pneumatic bending joint, flexible pneumatic torsion joint and flexible pneumatic spherical joint are developed. The mathematical models of flexible pneumatic bending joint and flexible pneumatic spherical joint are(More)
A new method for digital image scrambling transformation, namely Magic Cube Transformation, was proposed and its principle was introduced. Combined with the Logistic mapping in non-linear dynamics system, an image encrypting and decrypting algorithm based on Magic Cube Transformation was designed. A natural chaotic sequence was created with the key. The(More)
Flexible pneumatic bending joint is a new type of joint based on FPA, which can be adopted in multi-fingered dexterous hand design. The changing of average radius and shell thickness of bending joint during movement are analyzed, which implies that the average radius is almost invariable while the shell thickness changes obviously. The static model of(More)
Aiming at realizing cucumber identification and location for cucumber harvesting robot in greenhouse, a segmentation algorithm for cucumber image was presented. Using M (M=2G) component as the threshold segmentation channel, choosing an initial threshold to segment the images. The threshold was dynamic revised based on shape characteristics of cucumber(More)
In order to detect navigation line for agricultural vehicles in natural vegetation-embraced environment, a method was presented based on robotic vision. Firstly, an improved region growing algorithm was introduced to segment path. Then the two edges of path were extracted and an array of points through the center was computed. Lastly, the guidance line for(More)
Flexible pneumatic actuator FPA is a new type of actuator, proposed in Zhejiang University of Technology. Compared with typical McKibben muscle actuator, FPA features no friction, cabinet structure. Based on principle of aerothermodynamics, the dynamic model of FPA is established in this paper. The primary factors, which affect the dynamic properties of(More)
Based on flexible pneumatic bending joint and flexible pneumatic spherical joint, a kind of flexible pneumatic 5-DOF finger is proposed, which is composed of two bending joints and a spherical joint. The mathematic model of flexible pneumatic spherical joint is further analyzed. On the researching foundation of flexible pneumatic bending joint and flexible(More)
In order to eliminate twisting deformation of the flexible pneumatic bending joint, a rigid chain component is designed for it. Compressed air is filled into the pneumatic bending joint, the deformation of rubber tube occurred near the grasping point, and then the force is outputted by the pneumatic bending joint. The characteristics of the output force of(More)
In robotic application, flexible actuator is the end terminal parts. Rigid actuators are accurate but have poor security and practicability. This paper designed a new type of pneumatic dexterous hand - flexible three-fingered hand. The flexible three-fingered hand grasping pattern can be divided into griping, grasping and holding. The pattern classification(More)