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A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism

Siyun Liu (Department of Mechanical Engineering, Tsinghua University, Beijing, China)
Wenzeng Zhang (Department of Mechanical Engineering, Tsinghua University, Beijing, China)
Jie Sun (Tsinghua University, Beijing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 6 August 2019

Issue publication date: 21 August 2019

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.

Keywords

Citation

Liu, S., Zhang, W. and Sun, J. (2019), "A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism", Industrial Robot, Vol. 46 No. 5, pp. 660-671. https://doi.org/10.1108/IR-12-2018-0247

Publisher

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Emerald Publishing Limited

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