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 Linkage-Driven Underactuated Robotic Hand for Adaptive Grasping and In-Hand Manipulation
    Li, Guotao
    Liang, Xu
    Gao, Yifan
    Su, Tingting
    Liu, Zhijie
    Hou, Zeng-Guang
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2024, 21 (03) : 3039 - 3051
  • [42] A DEXTEROUS AND SELF-ADAPTIVE HUMANOID ROBOT HAND: GCUA HAND
    Che, Demeng
    Zhang, Wenzeng
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2011, 8 (01) : 73 - 86
  • [43] 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
  • [44] 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)
  • [45] 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
  • [46] 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
  • [47] 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
  • [48] 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
  • [49] 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
  • [50] 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
12345