Development of a Versatile Robotic Hand Toward Jig-Less Assembly of a Shaft-Shaped Part

Jig-less assembly of a shaft-shaped part with a single versatile robotic hand requires several functions of the hand to achieve a series of operations such as alignment, picking, reorientation, and positioning of the part. In this research, we propose a novel robotic hand with these functions and corresponding finger mechanisms. Moreover, we propose a manipulation strategy for grasping shaft-shaped parts with the proposed hand, and experimentally verify the feasibility of desired operations with the proposed method as well as the versatility of the hand for several different parts.