A Three-joint Coupled, Parallel and Self-adaptive Robot Hand

Abstract

In this paper, a three-joint robot hand which combines multiple grasping modes is design. Recently, for extending the function of robot hand, the robot hand with two or even more grasping modes has become the focus of the research field. The parallel, coupled and self-adaptive robot (COPASA) hand integrates characters of three grasping modes, thus it is not only suitable for grasping objects on the plane, but also has good pinching ability and high adaptability for different objects. Moreover, three-joint humanoid robot hand has the advantages of higher flexibility and better grasping stability compared with the traditional two-joint robot hand. Force analysis is performed to verify the grasping ability and grasping adaptability of COPASA hand.