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A Novel Parallel Pinching and Self-adaptive Grasping Robotic Hand

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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 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 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. Experimental results verify the wide adaptability and high practicability of the PASA-GB hand.

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Acknowledgement

This Research was supported by National Natural Science Foundation of China (No. 51575302).

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Authors and Affiliations

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

    Dayao Liang & Wenzeng Zhang

Authors
  1. Dayao Liang
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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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Liang, D., Zhang, W. (2016). A Novel Parallel Pinching and Self-adaptive Grasping Robotic Hand. 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_46

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  • DOI: https://doi.org/10.1007/978-3-319-47437-3_46

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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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