Multi-Mode Compound Grasping Robot Finger Driven by Linkage

Dong，Yinkai1; Zhang，Wenzeng2

2023-05-01

10.3390/app13095550

Applied Sciences (Switzerland)   影响因子和分区

2076-3417

The current underactuated robot hands use a single actuator to drive multiple degrees of freedom, enabling them to perform grasping functions. This paper design a multi-mode compound grasping robot finger driven by linkage, called MCG hand. The MCG hand includes a base, two motors, three phalanx, multiple shafts, two motors, two driving wheels, four linkages, three springs, and two limit blocks. This unique design allows the MCG finger to perform various grasping modes, such as parallel, coupling, middle, and distal phalanx self-adaptive, proximal, and distal gesture-changeable modes, as well as their combinations. The device can independently control the rotation of the proximal phalanx and the distal joint and realize the parallel pinching action of the distal phalanx. It can also realize the coupling function of the proximal and distal phalanx. It has automatic adaptability to objects of different shapes and sizes. Furthermore, the MCG finger provides enveloping grasping with multiple contact points, resulting in a more stable grip. The easy switching between modes through simple control, along with its wide application range and low manufacturing and maintenance costs, make the MCG hand a versatile solution for various applications.

coupling grasping gesture-changeable grasping multi grasping modes robot hand self-adaptive grasping underactuated finger

SCI

英语

第一

Chemistry ; Engineering ; Materials Science ; Physics

Chemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied

WOS:000987001000001

MDPI

2-s2.0-85159361897

Scopus

1.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,518055,China
2.Robotics Lab,X Institute,Shenzhen,518038,China

Dong，Yinkai,Zhang，Wenzeng. Multi-Mode Compound Grasping Robot Finger Driven by Linkage[J]. Applied Sciences (Switzerland),2023,13(9).

Dong，Yinkai,&Zhang，Wenzeng.(2023).Multi-Mode Compound Grasping Robot Finger Driven by Linkage.Applied Sciences (Switzerland),13(9).

Dong，Yinkai,et al."Multi-Mode Compound Grasping Robot Finger Driven by Linkage".Applied Sciences (Switzerland) 13.9(2023).