TY - JOUR
T1 - Design and experimental evaluation of a new modular underactuated multi-fingered robot hand
AU - Tang, Shufeng
AU - Yu, Yue
AU - Sun, Shuaishuai
AU - Li, Zhixiong
AU - Sarkodie-Gyan, Thompson
AU - Li, Weihua
N1 - Publisher Copyright:
© IMechE 2020.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/9/1
Y1 - 2020/9/1
N2 - In this paper, a modular underactuated multi-fingered robot hand is proposed. The robot hand can be freely configured with different number and configuration of modular fingers according to the work needs. Driving motion is achieved by the rigid structure of the screw and the connecting rod. A finger-connecting mechanism is designed on the palm of the robot hand to meet the needs of modular finger’s installation, drive, rotation, and sensor connections. The fingertips are made of hollow rubber to enhance the stability of grasping. Details about the design of the robot hand and analysis of the robot kinematics and grasping process are described. Last, a prototype is developed, and a grab test is carried out. Experimental results demonstrate that the structure of proposed modular robot hand is reasonable, which enables the adaptability and flexibility of the modular robot hand to meet the requirements of various grasping modes in practice.
AB - In this paper, a modular underactuated multi-fingered robot hand is proposed. The robot hand can be freely configured with different number and configuration of modular fingers according to the work needs. Driving motion is achieved by the rigid structure of the screw and the connecting rod. A finger-connecting mechanism is designed on the palm of the robot hand to meet the needs of modular finger’s installation, drive, rotation, and sensor connections. The fingertips are made of hollow rubber to enhance the stability of grasping. Details about the design of the robot hand and analysis of the robot kinematics and grasping process are described. Last, a prototype is developed, and a grab test is carried out. Experimental results demonstrate that the structure of proposed modular robot hand is reasonable, which enables the adaptability and flexibility of the modular robot hand to meet the requirements of various grasping modes in practice.
KW - Underactuated
KW - grab simulation
KW - kinematic analysis
KW - multi-fingered
KW - robot hand
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U2 - 10.1177/0954406220916494
DO - 10.1177/0954406220916494
M3 - Article
AN - SCOPUS:85083461816
VL - 234
SP - 3709
EP - 3724
JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
SN - 0954-4062
IS - 18
ER -