Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage
Parallel pinching is an important grasping mode of robot hands. However，because the end phalange moves along the arc track，the robot hand needs the manipulator to cooperate with the lifting when pinching objects on the desktop，which increases the difficulty of grasping objects of different sizes. To...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-08-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.025 |
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| author | Yankai Liu Wenzeng Zhang |
| author_facet | Yankai Liu Wenzeng Zhang |
| author_sort | Yankai Liu |
| collection | DOAJ |
| description | Parallel pinching is an important grasping mode of robot hands. However，because the end phalange moves along the arc track，the robot hand needs the manipulator to cooperate with the lifting when pinching objects on the desktop，which increases the difficulty of grasping objects of different sizes. To solve this problem，a linear parallel pinching mode is introduced in which the end phalange is translational in a linear trajectory. Based on this model，a SHKL finger，for linear parallel pinching and adaptive grasping based on springs and Hoeckens linkage is proposed. The SHKL finger uses Hoeckens linkage to realize the linear movement of the end joint，uses double parallel four-bar linkage with the same direction and speed to realize the attitude fixation of the end phalange relative to the palm，and uses elastic joints，springs and limits to realize the self-adaptive grasping. The theoretical analysis and experimental results show that the SHKL hand has the functions of linear parallel pinching and self-adaptive grasping. Its grasping is stable and its control is easy. |
| format | Article |
| id | doaj-art-2ef311ce96b541baa9e54c920954a57a |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-2ef311ce96b541baa9e54c920954a57a2025-01-10T13:57:19ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-08-014616216630484055Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens LinkageYankai LiuWenzeng ZhangParallel pinching is an important grasping mode of robot hands. However，because the end phalange moves along the arc track，the robot hand needs the manipulator to cooperate with the lifting when pinching objects on the desktop，which increases the difficulty of grasping objects of different sizes. To solve this problem，a linear parallel pinching mode is introduced in which the end phalange is translational in a linear trajectory. Based on this model，a SHKL finger，for linear parallel pinching and adaptive grasping based on springs and Hoeckens linkage is proposed. The SHKL finger uses Hoeckens linkage to realize the linear movement of the end joint，uses double parallel four-bar linkage with the same direction and speed to realize the attitude fixation of the end phalange relative to the palm，and uses elastic joints，springs and limits to realize the self-adaptive grasping. The theoretical analysis and experimental results show that the SHKL hand has the functions of linear parallel pinching and self-adaptive grasping. Its grasping is stable and its control is easy.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.025Robot handUnderactuated fingerLinear parallel pinchingSelf-adaptive graspingHoeckens linkage |
| spellingShingle | Yankai Liu Wenzeng Zhang Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage Jixie chuandong Robot hand Underactuated finger Linear parallel pinching Self-adaptive grasping Hoeckens linkage |
| title | Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage |
| title_full | Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage |
| title_fullStr | Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage |
| title_full_unstemmed | Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage |
| title_short | Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage |
| title_sort | development of robot hands for linear parallel pinching and self adaptive grasping with springs and hoeckens linkage |
| topic | Robot hand Underactuated finger Linear parallel pinching Self-adaptive grasping Hoeckens linkage |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.025 |
| work_keys_str_mv | AT yankailiu developmentofrobothandsforlinearparallelpinchingandselfadaptivegraspingwithspringsandhoeckenslinkage AT wenzengzhang developmentofrobothandsforlinearparallelpinchingandselfadaptivegraspingwithspringsandhoeckenslinkage |