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A Novel Self-adaptive Robot Hand with Pin-array Structure Driven by Negative Pressure

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Intelligent Robotics and Applications (ICIRA 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10985))

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Abstract

This paper proposes a novel self-adaptive robot hand with pin-array structure. The robot hand is composed of a quite concise structure, including a base, a pin-array, a spring-array and a membrane. When the robot hand grasping an object, the object pushes some pins to different position and membrane to a specific shape, and then the vacuum drives the robot hand to grasp. This robot hand realizes self-adaptive grasping of different sizes and shapes. Compared to traditional robot hand, this novel robot hand has the advantage of concise structure, small volume and large contact area with the object when grasping. The theoretical proof shows the robot hand can achieve enough grasping force. The experimental results show the high stability of the grasps and versatility of the robot hand. This robot hand has a wide range of applications.

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Acknowledgment

This research was supported by National Natural Science Foundation of China (No. 51575302) and Beijing Natural Science Foundation (No. J170005).

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Authors and Affiliations

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

    Hong Fu & Wenzeng Zhang

Authors
  1. Hong Fu
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  2. Wenzeng Zhang
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Corresponding author

Correspondence to Wenzeng Zhang .

Editor information

Editors and Affiliations

  1. University of Newcastle, Callaghan, New South Wales, Australia

    Zhiyong Chen

  2. University of Newcastle, Callaghan, New South Wales, Australia

    Alexandre Mendes

  3. University of Newcastle, Callaghan, New South Wales, Australia

    Yamin Yan

  4. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Shifeng Chen

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Fu, H., Zhang, W. (2018). A Novel Self-adaptive Robot Hand with Pin-array Structure Driven by Negative Pressure. 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_7

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  • DOI: https://doi.org/10.1007/978-3-319-97589-4_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-97588-7

  • Online ISBN: 978-3-319-97589-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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