The Design of 1-DOF Multi-fingered Adaptive Hand Mechanism with Multiple Phalanxes

抄録

A novel flexible two-finger hand mechanism that can grasp an object with various sizes and locations with easy control is proposed. The hand is a planer 17-bar underactuated mechanism with one driving motor and five prismatic joints with springs. Mechanism dimensions are designed to set angular velocities of phalanxes to 0 when the hand has just grasped the object, and are optimized by maximizing the difference of relative angles between phalanxes. In order to calculate motion of the hand and grasping force, a kinetostatic analysis of the hand that has contact with the object is carried out. Finally, a prototype of the hand mechanism can grasp objects that have different diameters and locations with input rotation of the motor at uniform speed.