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PCSS Hand: An Underactuated Robotic Hand with a Novel Parallel-Coupled Switchable Self-adaptive Grasp

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Social Robotics (ICSR 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9979))

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Abstract

This paper proposes a novel concept of underactuated grasping mode, called PCSS grasping mode. This mode has switchable hybrid grasping functions: parallel self-adaptive grasping (PASA) and coupled self-adaptive grasping (COSA), being able to grasp larger range of objects with different shapes and dimensions than traditional PASA and COSA hands. The PCSS grasping can execute different grasping modes: a parallel pinching (PA); a coupled hooking (CO); a self-adaptive encompassing (SA); parallel and self-adaptive hybrid grasping (PASA); coupled and self-adaptive hybrid grasping (COSA). A PCSS Hand is developed with three PCSS fingers and 6 degrees of freedom. Simulation analysis shows the high stability and the versatility of the PCSS Hand.

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Acknowledgement

This paper was supported by the Natural Science Foundation of China (No. 51575302).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Shuang Song & Wenzeng Zhang

Authors
  1. Shuang Song
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  2. Wenzeng Zhang
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Corresponding author

Correspondence to Wenzeng Zhang .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, The University of Kansas, Lawrence, Indiana, USA

    Arvin Agah

  2. Department of Mechanical Engineering, Qatar University, Doha, Qatar

    John-John Cabibihan

  3. School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA

    Ayanna M. Howard

  4. Department of Systems Engineering and Automation, University Carlos III de Madrid, madrid, Spain

    Miguel A. Salichs

  5. Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, Tennessee, USA

    Hongsheng He

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Song, S., Zhang, W. (2016). PCSS Hand: An Underactuated Robotic Hand with a Novel Parallel-Coupled Switchable Self-adaptive Grasp. In: Agah, A., Cabibihan, JJ., Howard, A., Salichs, M., He, H. (eds) Social Robotics. ICSR 2016. Lecture Notes in Computer Science(), vol 9979. Springer, Cham. https://doi.org/10.1007/978-3-319-47437-3_47

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  • DOI: https://doi.org/10.1007/978-3-319-47437-3_47

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-47436-6

  • Online ISBN: 978-3-319-47437-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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