Grasping Process Analysis on Gesture-Changeable Under-Actuated Mechanical Finger

W. Zhang, D. Che, Q. Chen, and D. Du (PRC)


Robot technology, bionics, gesture-changeable under-actuation, stability


Comparing dexterous hands with under-actuated robotic hands, a demand is given that robot hands need to be more dexterous, cheaper and easier to control. Inspired from bionics,a new concept called gesture-changeable under-actuated (GCUA) function is put forward for meeting this demand by changing finger’s initial gesture dexterously and grasping objects self-adaptively. A fresh mechanism is manufactured. The mechanism uses screw-nut transmission, flexible drawstring constraint and belt-pulley under-actuated mechanism to realise the new concept. The analyses of its grasping process and grasping stability are given. The GCUA mechanical finger is more dexterous and human-like than the traditional under-actuated fingers, easier to control than dexterous hands. The GCUA fingers have started a new way between dexterous fingers and under-actuated fingers.

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