LIPSA Hand: A Novel Underactuated Hand with Linearly Parallel and Self-adaptive Grasp
This paper proposes a novel robotic hand which contains linearly parallel and self-adaptive grasping modes, called LIPSA hand. The LIPSA hand is composed of a common basement, two fingers, two motors and the transmission mechanism. The LIPSA hand contains
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Abstract This paper proposes a novel robotic hand which contains linearly parallel and self-adaptive grasping modes, called LIPSA hand. The LIPSA hand is composed of a common basement, two fingers, two motors and the transmission mechanism. The LIPSA hand contains three modes: linearly parallel (LIP) gripping mode, self-adaptive (SA) grasping mode and the LIP-SA hybrid grasp mode. One finger linearly parallel grip the object and the other finger self-adaptive grasp the object on the same time. It is the object’s position, size, shape and weight that the mode which the LIPSA hand chooses depends on. The LIPSA hand is wide range in grasp, light in weight, small in size and low in cost. The Analysis results show that the LIPSA hand is valid and can be used in the various environment.
Keywords Robot hand Underactuation Self-adaptive grasping Hybrid grasping
Linearly parallel gripping
1 Introduction The robot technology is one of the most important tendencies of the improvement of the technology. It is the robot hand (end effector) that the robot mainly depended on to replace the human’s work [1]. Nowadays, there are many kinds of the robot hand have been created, such as multi-finger hand, particular hand and soft hand. The multi-finger hand has several fingers and each finger has several joints and phalanxes which can rotate or linearly move. The multi-finger hand is mainly divided into two kinds: dexterous hand and actuated hand. Y. Yang W. Zhang (&) Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China e-mail: [email protected] Y. Yang X. Xu H. Hu J. Hu School of Mechanical Engineering, Anhui University of Technology, Ma’anshan 243002, China © Springer Nature Singapore Pte Ltd. 2017 X. Zhang et al. (eds.), Mechanism and Machine Science, Lecture Notes in Electrical Engineering 408, DOI 10.1007/978-981-10-2875-5_10
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Dexterous Hand
The dexterous robot hand is made by several dexterous fingers which have more than one joints and the motor. The number of the motors is same as the number of the degree of the freedom (DOF) of the hand. One motor could control one joint rotate for an angel and the cooperation among the different joint can make the dexterous hand realize numerous of movement. So, the dexterous hand can imitate the human’s hand better to make complex actions and the different grasping mode. The dexterous hand is one of the most important trends of the robot development. There are many sensors set on the dexterous hand to probe the object, such as the distance sensor probes the distance between the object and the hand, pressure sensor probes the force put on the hand. During the process of the grasp experiment, one sensor must get a signal and transmit the information to the controller. Then, the controller will drive the motor running to make the signal transforms to real movement. At the same time, all the sensor must work to probe the object to get a most convenient method to grasp the object before the grasping. It is the real-
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