Development of Reconfigurable and Underactuated Hand For Handling of An Object with A Complex Shape in Narrow Space

Abstract

For factory automation, a new concept of a reconfigurable robot hand is proposed, which is suitable for handling an object with a complex shape such as aircraft engine parts. This hand has fingers which transform into two different shapes, one is cylindrical for inserting a narrow space in a partition in containers, which is designed to avoid collision between workpieces for quality control, and the other is L-shape for supporting the weight of the object to ensure that it cannot drop. In this report, the concept and design of the proposed hand mechanism is clarified.