Grasping Analysis and Experiment of a Linear-parallel and Self-adaptive Robot Hand

doi:10.3901/JME.2021.19.006

Abstract

Abstract: Traditional parallel robot hand executes a circle trace under the parallel grasping mode, which is not suitable for grasping thick objects on tables. To overcome the shortcomings of traditional robot hand, a robot hand which can realize linear-parallel precision pinching and self-adaptive envelope universal grasping is designed, analyzes the working principle, structural design characteristics of the robot hand, and analyzes the grasping mode, the maximum grasping quality of linear-parallel pinching, and the mechanical characteristics of adaptive envelope grasping, which provides the basis for optimizing the robot hand design. A prototype robot hand is developed, and pressure sensors are placed on the finger surface to monitor the grasping process in real time Through the analysis of the feedback data from sensors, the force of the robot hand in different grasping modes is obtained. The qualitative and quantitative experiments verify the rationality of the robot hand design.

Key words: robot hand, under-actuated hand, linear-parallel and self-adaption, grasping analysis

CLC Number:

TP241

LUO Chao, ZHANG Wenzeng, WANG Ziyue, ZHOU Jie. Grasping Analysis and Experiment of a Linear-parallel and Self-adaptive Robot Hand[J]. Journal of Mechanical Engineering, 2021, 57(19): 61-69.

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