A Novel Parallel and Self-adaptive Underactuated Finger with Link-wheel Mechanism

被引：0

作者：

Liang, Dayao ^{[1
]}

Zhang, Wenzeng ^{[1
]}

机构：

[1] Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China

来源：

IEEE ICARM 2016 - 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2016年

关键词：

Underactuated finger; parallel and self-adaptive grasp; link-wheel mechanism; HAND;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper introduces in detail a novel parallel and self-adaptive underactuated finger with link-wheel mechanism (the PASA linger). The PASA finger uses one actuator to control two joints and executes different grasping modes depending on the state of objects. Combining the advantages of other self adaptive underactuated fingers and traditional industrial grippers, the PASA finger can both execute an enveloping grasp and a parallel pinching grasp. Geometry, static equilibrium and envelope space analysis show the impact of axis distance on contact forces distribution, and give the switch condition of pinching grasp and enveloping grasp. This paper provides methods to optimize the force distribution, the enveloping space and grasping stability of the PASA finger. Because of its strong grasping adaptability and high grasping stability, the PASA finger is suitable for industrial applications.

引用

页码：518 / 523

页数：6

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