Development of the CA Robot Finger with a Novel Coupled and Active Grasping Mode

作者：Yang, Sicheng; Song, Jiuya; Li, Guoxuan; Zhang, Wenzeng^*; Sun, Zhenguo; Du, Dong; Chen, Qiang

来源：International Journal of Humanoid Robotics, 2016, 13(3): 1650012.

DOI：10.1142/S0219843616500122

• Robot hand
• underactuation
• coupled finger
• coupled and active grasping

This paper proposes a novel coupled and active (CA) grasping mode for robot finger. While coupled grasping mode enables the phalanges of the finger to rotate in an anthropomorphic way, the active grasping mode enables the finger to adapt to the object's shape automatically. Combination of these grasping modes can greatly reduce the controlling complexity and enlarge the application of coupled hands. The CA finger is developed based on the pulley-belt mechanism. It is composed of a finger base and two mobile phalanges. The control process of the finger is also introduced in this paper. Grasping capabilities is validated by experiments. Theoretical and experimental results show that the CA grasping mode is effective.

• 出版日期2016-9
• 单位浙江清华长三角研究院; 清华大学