PASA Hand: A Novel Parallel and Self-Adaptive Underactuated Hand with Gear-Link Mechanisms

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• 关键词：Robot hand ; Underactuated finger ; Parallel and self ; adaptive grasp
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9834
• 期：1
• 页码：134-146
• 全文大小：4,647 KB
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• 作者单位：Dayao Liang (17)
  Jiuya Song (17)
  Wenzeng Zhang (17)
  Zhenguo Sun (17)
  Qiang Chen (17)
  
  17. Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China
  
• 丛书名：Intelligent Robotics and Applications
• ISBN：978-3-319-43506-0
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9834

文摘

This paper proposes a novel underactuated robotic finger, called the PASA finger, which can perform parallel and self-adaptive (PASA) hybrid grasping modes. A PASA hand is developed with three PASA fingers and 8 degrees of freedom (DOFs). Each finger in the PASA hand has two joints, mainly consists of an actuator, an accelerative gear system, a spring, a parallel four-link mechanism and a mechanical limit. Two extra actuators in the palm of the PASA hand independently control the base rotation of two fingers. The PASA hand executes multiple grasping modes based on the dimensions, shapes and positions of objects: (1) a parallel pinching (PA) grasp for precision grasp like industrial grippers; (2) a self-adaptive (SA) enveloping grasp for power grasp like traditional self-adaptive hands; (3) a parallel and self-adaptive (PASA) grasping mode for hybrid grasp like human hands. The switch through different grasping modes is natural without any sensors and control. Kinematics and statics show the distribution of contact forces and the switch condition of PA, SA, and PASA grasping modes. Experimental results show the high stability of the grasps and the versatility of the PASA hand. The PASA hand has a wide range of applications.