Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack Mechanism
Traditional robot fingers with parallel and self-adaptive hybrid grasping mode have double-chain transmission mechanisms， which have disadvantages of complexity in mechanisms. A novel design of a parallel and indirectly self-adaptive underactuated robot finger with a single chain transmission mechan...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.028 |
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| _version_ | 1841548763174273024 |
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| author | Jingwei Su Wenzeng Zhang |
| author_facet | Jingwei Su Wenzeng Zhang |
| author_sort | Jingwei Su |
| collection | DOAJ |
| description | Traditional robot fingers with parallel and self-adaptive hybrid grasping mode have double-chain transmission mechanisms， which have disadvantages of complexity in mechanisms. A novel design of a parallel and indirectly self-adaptive underactuated robot finger with a single chain transmission mechanism， called PISA hand is presented. The method uses three gears， two racks， a slider， a block， a limit and a spring to achieve using a single motor to drive two phalanges. The PISA finger can realized the pinching grasp with the distal phalanx and enveloping grasp with the proximal phalanx with a slider and the distal phalanx. The composition and movement process of the PISA finger are introduced in detail. Theoretical analysis of the range and grasping force are given. Simulation and experimental results show that the PISA finger can automatically switch the grasping modes according to the different positions and shapes of the object so as to achieve stable grasping. The PISA hand has high transmission efficiency， compact structure. |
| format | Article |
| id | doaj-art-2e90f98cb51744598eb56ea8ffd57183 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-2e90f98cb51744598eb56ea8ffd571832025-01-10T14:02:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-02-014315416130638851Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack MechanismJingwei SuWenzeng ZhangTraditional robot fingers with parallel and self-adaptive hybrid grasping mode have double-chain transmission mechanisms， which have disadvantages of complexity in mechanisms. A novel design of a parallel and indirectly self-adaptive underactuated robot finger with a single chain transmission mechanism， called PISA hand is presented. The method uses three gears， two racks， a slider， a block， a limit and a spring to achieve using a single motor to drive two phalanges. The PISA finger can realized the pinching grasp with the distal phalanx and enveloping grasp with the proximal phalanx with a slider and the distal phalanx. The composition and movement process of the PISA finger are introduced in detail. Theoretical analysis of the range and grasping force are given. Simulation and experimental results show that the PISA finger can automatically switch the grasping modes according to the different positions and shapes of the object so as to achieve stable grasping. The PISA hand has high transmission efficiency， compact structure.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.028Robot handUnderactuated handIndirect self-adaptionParallel pinchSingle chain transmission |
| spellingShingle | Jingwei Su Wenzeng Zhang Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack Mechanism Jixie chuandong Robot hand Underactuated hand Indirect self-adaption Parallel pinch Single chain transmission |
| title | Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack Mechanism |
| title_full | Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack Mechanism |
| title_fullStr | Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack Mechanism |
| title_full_unstemmed | Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack Mechanism |
| title_short | Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack Mechanism |
| title_sort | development of a parallel and indirectly self adaptive robot hand with single chain transmission of double rack mechanism |
| topic | Robot hand Underactuated hand Indirect self-adaption Parallel pinch Single chain transmission |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.028 |
| work_keys_str_mv | AT jingweisu developmentofaparallelandindirectlyselfadaptiverobothandwithsinglechaintransmissionofdoublerackmechanism AT wenzengzhang developmentofaparallelandindirectlyselfadaptiverobothandwithsinglechaintransmissionofdoublerackmechanism |