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Design and Analysis of a Novel Sucked-Type Underactuated Hand with Multiple Grasping Modes

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Robot Intelligence Technology and Applications 5 (RiTA 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 751))

Abstract

The gripper of home service robot is required to be lightweight, appropriately-sized and compliant to grasp everyday objects. To meet the demand, an underactuated robot hand with suction cups is proposed which is capable of grasping objects of various shapes, sizes and materials. Using one actuator with tendon-driven mechanism, the inherent compliant hand can realize three grasping modes to adapt to different object shapes. Additionally, soft material applied on fingers makes the hand more flexible and controllable. Kinematic and mechanical analysis offer a theory evidence for design optimization and configuring proper grasping modes. Furthermore, in the experiment, robot hand is validated to have satisfactory grasping effect with three grasping modes.

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Acknowledgements

We gratefully acknowledge financial support by the National Natural Science Foundation of China under grant 61573333.

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Authors and Affiliations

  1. Department of Computer Science, University of Science and Technology of China Hefei, Anhui, 230026, China

    Nan Lin, Peichen Wu, Xiao Tan, Jinhua Zhu, Zhenjiang Guo, Xinbo Qi & Xiaoping Chen

Authors
  1. Nan Lin
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  2. Peichen Wu
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  3. Xiao Tan
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  4. Jinhua Zhu
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  5. Zhenjiang Guo
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  6. Xinbo Qi
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  7. Xiaoping Chen
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Corresponding author

Correspondence to Xiaoping Chen .

Editor information

Editors and Affiliations

  1. School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Hyun Myung

  3. School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Junmo Kim

  4. Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand

    Weiliang Xu

  5. Department of Computer and Information Technology, Purdue University, West Lafayette, Indiana, USA

    Eric T Matson

  6. Department of Computer Science and Engineering, Dongguk University, Seoul, Korea (Republic of)

    Jin-Woo Jung

  7. Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Han-Lim Choi

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Lin, N. et al. (2019). Design and Analysis of a Novel Sucked-Type Underactuated Hand with Multiple Grasping Modes. In: Kim, JH., et al. Robot Intelligence Technology and Applications 5. RiTA 2017. Advances in Intelligent Systems and Computing, vol 751. Springer, Cham. https://doi.org/10.1007/978-3-319-78452-6_26

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