A novel under-actuated bionic hand and its grasping stability analysis

作者：Li, Xin; Huang, Qiang; Chen, Xuechao^*; Yu, Zhangguo; Zhu, Jinying; Han, Jianda

来源：Advances in Mechanical Engineering, 2017, 9(2): 1687814016688859.

DOI：10.1177/1687814016688859

• Under-actuated mechanism
• linkage mechanism
• cooperative mechanism
• force analysis
• stability analysis

This article presents a novel under-actuated robot hand, which has a thumb and two cooperative fingers. The thumb has two joints with 2 degrees of freedom driven by one motor. Each of the other two fingers has the same mechanism structure with the thumb and forms a cooperative mechanism, which is driven by only one motor with 4 degrees of freedom in total. All the under-actuated fingers are designed with the transmission mechanisms based on a kind of mechanism combined with the linkage mechanism and the passive elements. In this article, it is shown that under-actuated hand is able to reproduce most of the grasping behaviors of the human hand anthropomorphically and self-adaptively, without increasing the complexity of mechanism and control. The grasping stability analysis is given to help to understand the size range and load range of a stable grasp. Finally, the experiment results verify the high efficiency and stability of the novel mechanism.

• 出版日期2017-2-1
• 单位机器人学国家重点实验室; 中国科学院; 北京理工大学; 中国科学院沈阳自动化研究所