Linearly Parallel and Self-adaptive Robot Hand with Sliding Base Compensation for Grasping on the Surface

Abstract

The traditional underactuated linkage Self-adaptive robot hand can provide greater grasping force, but the trajectory of the end of the distal phalanx is an arc. So it has an upward or downward displacement on the grasping plane. Affected by this, hand cannot grasp the thin and small objects on the surface. Linearly parallel and self-adaptive robot hand with sliding base compensation (SBC-LPS hand), the displacement at the end of the distal phalanx can be offset by the displacement at the sliding base, realizing the end of the distal phalanx moving in line, to make up for the shortage of traditional mechanism. The feasibility of the design is confirmed by design calculation, 3D modeling and software simulation.