A Novel Parallel-pinching and Enveloping Robot Hand with Gear-Linkage Mechanisms

Abstract

This paper proposes a novel parallel-pinching and enveloping robot hand. The robot finger consists of a finger base, a proximal phalanx, a distal phalanx, two links, a motor, a worm, a worm gear, a driving gear, a gear set, two driven gears and two torsion springs. The robot hand has two modes of grasping, one is the parallel-pinching mode implemented through the four-bar linkage mechanism, and another is the enveloping mode implemented through the self-adaptive mechanism. Theoretical analysis shows that the robot hand can perform large grasping forces within a certain range of angles. Experimental results show that the robot hand can achieve two kinds of grasping modes well and it is reliable in grasping.