Abstract
Aiming at the circular movement of the fingertip presented during the parallel grasping of the existing parallel and adaptive grasping robotic hand, an underactuated robotic hand (SDG-UA hand) suitable for tabletop gripping is proposed. SDG-UA hand can realize the parallel and self-adaptive grasping by using guide-bar mechanism. The principle that the finger fits on the tabletop is analyzed and its structure is designed. The optimal length of the connecting rod in the key position of the SDG-UA finger is determined by using MATLAB, and dynamic simulation of the finger model to verify the end trajectory of the finger. The force problems in the parallel grasping and the adaptive grasping mode are analyzed. The fingertip of the SDG-UA always maintains an approximate straight-line track, which automatically adapts to the shape and size of the object to be grasped. It is suitable for grasping thin-plate objects on the desktop, reducing the need for collaborative control programming of the robot arm. It has a wide range of application.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Zhang, W., Che, D., Liu, H., et al.: Super underactuated multi-fingered mechanical hand with modular self-adaptive gear-rack mechanism. Ind. Robot 36(3), 255–262 (2009)
Che, D., Zhang, W.: Active gesture-changeable underactuated finger for humanoid robot hand based on multiple tendons. Mech. Sci. 1(1), 27–32 (2010)
Jacobsen, S.C., Iversen, E.K., Knutti, D.F., et al.: Design of the Utah/MIT Dextrous Hand. In: IEEE International Conference on Robots and Automation (ICRA), pp. 1520–1532 (1986)
Brown, E., Rodenberg, N., Amend, J., et al.: Universal robot gripper based on the jamming of granular material. Proc. Nat. Acad. Sci. 107(44), 18809–18814 (2010)
Li, G., Liu, H., Zhang, W.: Development of multi-fingered robot hand with coupled and directly self-adaptive grasp. Int. J. Humanoid Robots 9(4), 1–18 (2012)
Liang, D., Song, J., Zhang, W., et al.: PASA hand: a novel parallel and self-adaptive underactuated hand with gear-link mechanisms. In: International Conference on Intelligent Robots and Applications, pp. 134–146 (2016)
Zhang, W., Chen, Q., Sun, Z., et al.: Super underactuated multi-fingered hand for humanoid robot. Front. Mech. Eng. 1(1), 33–39 (2006)
Yang, Y., Xu, X., et al.: LIPSA hand: a novel underactuated hand with linearly parallel and self-adaptive grasp. In: IFToMM Mechanism and Machine Science (Asia-MMS), Guangzhou, China, November 2016
Liu, Y., Jin, M., Liu, H.: DLR/HIT dextrous robot hand. J. Harbin Instit. Technol. 41(5), 47–51 (2009)
Hua, L., et al.: Towards the analysis and optimization of underactuated hands for effective grasp. Int. J. Humanoid Robot. 13(3), 1650004 (2016)
Howe, R.D.: Joint coupling design of underactuated grippers. In: The ASME Mechanisms and Robots Conference, pp. 10–13 (2006)
Liang, D., Zhang, W., Sun, Z., et al.: PASA finger: a novel parallel and self-adaptive underactuated finger with pinching and enveloping grasp. In: IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1323–1328 (2015)
Yang, Y., Xu, X., Zhang, W.: A parallel and self-adaptive underactuated finger with novel belt and cam-link mechanisms. In: IEEE International Conference on Advanced Robots and Mechatronics (ICARM), pp. 635–639 (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Switzerland AG
About this paper
Cite this paper
Wang, X., Xu, X., Zhang, W., Li, K. (2018). Design and Analysis of Underactuated Robotic Hand Suitable for Desktop Grasping. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-97589-4_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-97588-7
Online ISBN: 978-3-319-97589-4
eBook Packages: Computer ScienceComputer Science (R0)