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
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