Development of a linear-parallel and self-adaptive under-actuated hand compensated for the four-link and sliding base mechanism

• DOI: 10.1017/s026357472100151x
• Publication Date: 2021-10-23T03:13:28Z
• Authors: Jianfeng Li; Yuan Kong; Mingjie Dong; Ran Jiao
• Keywords: Base (topology); Link (geometry)

Abstract When the under-actuated hand pinches object on worktable, trajectory of end finger is not a straight line, which makes it difficult for to grasp from its both sides. In order overcome this shortcoming, paper proposes new configuration linear-parallel and self-adaptive uses four-link sliding base mechanism compensate vertical displacement finger. Based configuration, mechanical structure designed, has five degrees freedom (DOFs), mainly composed two fingers, base, four link compensation mechanisms an outer base. These fingers have exactly same size, where each only one motor control joints realizes function. Through cooperation mechanism, can realize hybrid grasping mode. Kinematics analysis contact force are discussed, prototype developed carry out experiments. The results simulation experiment all show that good motion performance stability be used as effector intelligent robots.