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PASA-GB Hand: a Novel Parallel and Self-adaptive Robot Hand with Gear-belt Mechanisms

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Abstract

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 grasping poses and 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. The switch condition between pinching and enveloping grasp is analyzed in detail. Experimental results verify wide adaptability and high practicability of the PASA-GB hand.

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Acknowledgments

This Research was supported by National Natural Science Foundation of China (No. 51575302).

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Authors and Affiliations

  1. State Key Laboratory of Tribology, Tsinghua University, Beijing, China

    Dayao Liang & Wenzeng Zhang

  2. Key Laboratory for Advanced Materials Processing Technology (MOE), Tsinghua University, Beijing, China

    Dayao Liang & Wenzeng Zhang

  3. Dept. of Mechanical Engineering, Tsinghua University, Beijing, China

    Dayao Liang & Wenzeng Zhang

Authors
  1. Dayao Liang
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  2. Wenzeng Zhang
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Correspondence to Wenzeng Zhang.

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Liang, D., Zhang, W. PASA-GB Hand: a Novel Parallel and Self-adaptive Robot Hand with Gear-belt Mechanisms. J Intell Robot Syst 90, 3–17 (2018). https://doi.org/10.1007/s10846-017-0644-0

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  • DOI: https://doi.org/10.1007/s10846-017-0644-0

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