PASA-GB Hand: a Novel Parallel and Self-adaptive Robot Hand with Gear-belt Mechanisms

被引：0
作者：
Dayao Liang
Wenzeng Zhang
机构：
[1] Tsinghua University,State Key Laboratory of Tribology
[2] Tsinghua University,Key Laboratory for Advanced Materials Processing Technology (MOE)
[3] Tsinghua University,Dept. of Mechanical Engineering
来源：
Journal of Intelligent & Robotic Systems | 2018年 / 90卷
关键词：
Robot hand; Underactuated finger; Parallel and self-adaptive grasp; Grasping stability;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper introduces a novel underactuated hand, the PASA-GB hand, which has a hybrid grasping mode. The hybrid grasping mode is a combination of parallel pinching (PA) grasp and self-adaptive enveloping (SA) grasp. In order to estimate the performance of grasping objects, the potential energy method is used to analyze the grasping poses and stabilities of the PASA-GB hand. The calculation of force distribution shows the influence of the size and position of objects and provides a method to optimize the force distribution. The switch condition between pinching and enveloping grasp is analyzed in detail. Experimental results verify wide adaptability and high practicability of the PASA-GB hand.
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页码：3 / 17
页数：14
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