DSCL Hand A Novel Underactuated Robot Hand Of Linearly Parallel Pinch And Selfadaptive Grasp With DoubleSlider Cocircular Linka

Abstract
This paper introduces a novel underactuated robot hand of linearly parallel pinch and self-adaptive grasp. Each finger has one joint, which is enabled by double-slider co-circular linkage mechanisms, a parallelogram mechanism and two gears. Targeting for objects of different sizes, shapes and poses, DSCL Hand achieves two grasp modes with only one actuator: (1) linear parallel pinch for precise grasping; (2) self-adaptive grasp for firm grasping. Particular attention is given to the linear parallel pinch mode, where the trajectory of fingertip is a straight line. It is important for precise grasping and realized by the novel double-slider co-circular linkage mechanisms. The switch of grasping modes is mechanically automatic without complex sensors or control. Kinematics analysis, motion simulation and prototype experiments verify the versatility of the proposed DSCL Hand.

Keywords
* Robotic hand
* Parallel pinch
* Underactuation
* Self-adaptive grasp

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Acknowledgment
This paper was supported by the National Natural Science Foundation of China (No. ).

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Authors and Affiliations
1. Department of Mechanical Engineering, Tsinghua University, Beijing, , China Xiaofeng Guo, An Mo, Chao Luo & Wenzeng Zhang

Authors 1. Xiaofeng GuoYou can also search for this author in PubMedGoogle Scholar

2. An MoYou can also search for this author in PubMedGoogle Scholar

3. Chao LuoYou can also search for this author in PubMedGoogle Scholar

4. Wenzeng ZhangYou can also search for this author in PubMedGoogle Scholar

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Editors and Affiliations
1. University of Newcastle, Callaghan, New South Wales, Australia Zhiyong Chen

2. University of Newcastle, Callaghan, New South Wales, Australia Alexandre Mendes

3. University of Newcastle, Callaghan, New South Wales, Australia Yamin Yan

4. Shenzhen Institutes of Advanced Technology, Shenzhen, China Shifeng Chen

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Guo, X., Mo, A., Luo, C., Zhang, W. (2018). DSCL Hand: A Novel Underactuated Robot Hand of Linearly Parallel Pinch and Self-adaptive Grasp with Double-Slider Co-circular Linkage Mechanisms. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. /10.1007/ _6

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* DOI: /10.1007/ _6

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