A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism. Issue 5 (6th August 2019)

• Record Type: Journal Article
• Authors: Liu, Siyun; Zhang, Wenzeng; Sun, Jie
• Is Part Of: Industrial robot. Volume 46:Issue 5(2019)
• Page Start: 660
• Page End: 671
• Publication Date: 2019-08-06
• Subjects: Grippers -- Humanoid robots -- Robot design -- Coupled finger -- Grasping mechanism -- Multi-fingered hand -- Indirectly self-adaptive finger -- Underactuated finger; Robots, Industrial -- Periodicals; Machinery in the workplace -- Periodicals; 629.892
• DOI: 10.1108/IR-12-2018-0247
• Languages: English
• ISSNs: 0143-991X

Abstract

Abstract : Purpose: Underactuated fingers are adapted to generate several grasping modes for different tasks, and coupled fingers and self-adaptive fingers are two important types of them. Aiming to expand the application and increase adaptability of robotic hand, this paper aims to propose a novel grasping model, called coupled and indirectly self-adaptive (CISA) grasping model, which is the combination of coupled finger and indirectly self-adaptive finger. Design/methodology/approach: CISA grasping process includes two stages: first, coupled and then indirectly self-adaptive grasping; thus, it is not only integrated with the good pinching ability of coupled finger but also characterized with the high flexibility of indirectly self-adaptive finger. Furthermore, a CISA hand with linkage-slider, called CISA-LS hand, is designed based on the CISA grasping model, consisting of 1 palm, 5 CISA-LS fingers and 14 degrees of freedom. Findings: To research the grasping behavior of CISA-LS hand, kinematic analysis, dynamic analysis and force analysis of 2-joint CISA-LS finger are performed. Results of grasping experiments for different objects demonstrate the high reliability and stability of CISA-LS hand. Originality/value: CISA fingers integrate two grasping modes, coupled grasping and indirectly self-adaptive grasping, into one finger. And a double-linkage-slider mechanism is designed as the switch device.