A Novel Parallel Pinching and Self-adaptive Grasping Robotic Hand

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：
SOCIAL ROBOTICS, (ICSR 2016) | 2016年 / 9979卷
关键词：
Robot hand; Underactuated finger; Parallel and self-adaptive grasp; Grasping stability; DESIGN;
D O I：
10.1007/978-3-319-47437-3_46
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
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 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. Experimental results verify the wide adaptability and high practicability of the PASA-GB hand.
引用
收藏
页码：469 / 480
页数：12
相关论文
共 50 条
  • [41] A DEXTEROUS AND SELF-ADAPTIVE HUMANOID ROBOT HAND: GCUA HAND
    Che, Demeng
    Zhang, Wenzeng
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2011, 8 (01) : 73 - 86
  • [42] COSA Finger: A Coupled and Self-Adaptive Under-actuated Unit for Humanoid Robotic Hand
    Sun, Jie
    Zhang, Wenzeng
    SOCIAL ROBOTICS, ICSR 2010, 2010, 6414 : 172 - 181
  • [43] Glowing Sucker Octopus (Stauroteuthis syrtensis)-Inspired Soft Robotic Gripper for Underwater Self-Adaptive Grasping and Sensing
    Wu, Mingxin
    Zheng, Xingwen
    Liu, Ruosi
    Hou, Ningzhe
    Afridi, Waqar Hussain
    Afridi, Rahdar Hussain
    Guo, Xin
    Wu, Jianing
    Wang, Chen
    Xie, Guangming
    ADVANCED SCIENCE, 2022, 9 (17)
  • [44] A novel type of compliant and underactuated robotic hand for dexterous grasping
    Deimel, Raphael
    Brock, Oliver
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2016, 35 (1-3): : 161 - 185
  • [45] Grasping Novel Objects with a Dexterous Robotic Hand through Neuroevolution
    Huang, Pei-Chi
    Lehman, Joel
    Mok, Aloysius K.
    Miikkulainen, Risto
    Sentis, Luis
    2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA), 2014, : 125 - 132
  • [46] Adaptive Controllers and Digital Twin for Self-Adaptive Robotic Manipulators
    Edrisi, Farid
    Perez-Palacin, Diego
    Caporuscio, Mauro
    Giussani, Samuele
    2023 IEEE/ACM 18TH SYMPOSIUM ON SOFTWARE ENGINEERING FOR ADAPTIVE AND SELF-MANAGING SYSTEMS, SEAMS, 2023, : 56 - 67
  • [47] A Novel Parallel and Self-adaptive Underactuated Finger with Link-wheel Mechanism
    Liang, Dayao
    Zhang, Wenzeng
    IEEE ICARM 2016 - 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM), 2016, : 518 - 523
  • [48] SCHU Hand: A Novel Self-adaptive Robot Hand with Single-column Hybrid Underactuated Grasp
    Yang, Sicheng
    Li, Guoxuan
    Zhang, Wenzeng
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 1337 - 1342
  • [49] Development of a Co-circular Slider Linear-parallel and Self-adaptive Robot Hand
    Luo C.
    Su J.
    Zhang W.
    Jiqiren/Robot, 2019, 41 (04): : 519 - 525
  • [50] A force augmenting exoskeleton for the human hand designed for pinching and grasping
    Triolo, E. R.
    Stella, M. H.
    BuSha, B. F.
    2018 40TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2018, : 1875 - 1878
12345