Multi-Mode Compound Grasping Robot Finger Driven by Linkage
Name
applsci-13-05550.pdf
Size
19.62 MB
Format
Adobe PDF
Checksum (MD5)
7a99a3e2132676abd9f67b9629d45771
Author(s)
Dong, Yinkai
Zhang, Wenzeng
Date Issued
April 29, 2023
Publisher
Multidisciplinary Digital Publishing Institute
Citation
Applied Sciences 13 (9): 5550 (2023)
Version
Final published version
Abstract
The current underactuated robot hands use a single actuator to drive multiple degrees of freedom, enabling them to perform grasping functions. This paper design a multi-mode compound grasping robot finger driven by linkage, called MCG hand. The MCG hand includes a base, two motors, three phalanx, multiple shafts, two motors, two driving wheels, four linkages, three springs, and two limit blocks. This unique design allows the MCG finger to perform various grasping modes, such as parallel, coupling, middle, and distal phalanx self-adaptive, proximal, and distal gesture-changeable modes, as well as their combinations. The device can independently control the rotation of the proximal phalanx and the distal joint and realize the parallel pinching action of the distal phalanx. It can also realize the coupling function of the proximal and distal phalanx. It has automatic adaptability to objects of different shapes and sizes. Furthermore, the MCG finger provides enveloping grasping with multiple contact points, resulting in a more stable grip. The easy switching between modes through simple control, along with its wide application range and low manufacturing and maintenance costs, make the MCG hand a versatile solution for various applications.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.3390/app13095550
