Design of a novel dexterous robotic finger with sensing parallel and self-adaptive grasp

摘要

This paper proposes a novel dexterous robotic finger with sensing parallel and self-adaptive grasp, called S-PASA finger, which can perform parallel and self-adaptive hybrid grasping mode. The S-PASA finger consists of two phalanges, two joints, a four-link mechanism with a composite flexible link, one spring, four sensors, a control module, a drive module, and two servo motors. The S-PASA finger combines the advantages of common full-actuated finger and under-actuated finger, and does not need complex control algorithms and high-performance real-time control, but can achieve multiple grasping modes self-adaptively depending on the dimensions, shapes and positions of objects. The four-link mechanism with a composite flexible link of the S-PASA finger can extend to meet the requirements of grasping. The switching from parallel pinch grasp to self-adaptive grasp is natural.