Abstract
Traditional grippers with self-adaptive grasping mode cannot perform a linear translation of their distal phalanges. In order to grasp some typical objects that are against a surface, without motion of manipulator, a novel robot hand is proposed by implementing a swing slider mechanism. After counteracting the height difference of a finger’s distal phalange, the base’s overall lift and decline can be achieved during the grasping process. This compensation mechanism can be implemented with other grippers as well. Both of the kinematics and force analysis are conducted to provide some possible improvement methods. The feasibility of this design was confirmed by the completion of the simulations and experiments.
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This Research was supported by National Natural Science Foundation of China (No. 51575302)
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Jiang, R., Luo, C., Zhang, W. (2018). A Novel Linearly Parallel and Self-adaptive Robot Hand with the Swing Slider Mechanism. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_4
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DOI: https://doi.org/10.1007/978-3-319-97589-4_4
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