Abstract
This paper introduces a novel underactuated hand, the PASA-GB hand, which has a hybrid grasping mode. The hybrid grasping mode is a combination of parallel pinching (PA) grasp and self-adaptive enveloping (SA) grasp. In order to estimate the performance of grasping objects, the potential energy method is used to analyze the grasping poses and stabilities of the PASA-GB hand. The calculation of force distribution shows the influence of the size and position of objects and provides a method to optimize the force distribution. The switch condition between pinching and enveloping grasp is analyzed in detail. Experimental results verify wide adaptability and high practicability of the PASA-GB hand.
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This Research was supported by National Natural Science Foundation of China (No. 51575302).
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Liang, D., Zhang, W. PASA-GB Hand: a Novel Parallel and Self-adaptive Robot Hand with Gear-belt Mechanisms. J Intell Robot Syst 90, 3–17 (2018). https://doi.org/10.1007/s10846-017-0644-0
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DOI: https://doi.org/10.1007/s10846-017-0644-0