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High-payload and self-adaptive robotic hand with 1-degree-of-freedom translation/rotation switching mechanism

This study proposes a novel robotic hand that can achieve self-adaptive grasping and a large payload (over 20 kg) with a single actuator. Accordingly, two novel mechanisms, an actuation system with self-motion switching and a self-adaptive finger with a self-locking mechanism, are installed in a 1-d...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2023-05, Vol.8 (5), p.1-8
Main Authors: Nishimura, Toshihiro, Muryoe, Tsubasa, Watanabe, Tetsuyou
Format: Article
Language:English
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Summary:This study proposes a novel robotic hand that can achieve self-adaptive grasping and a large payload (over 20 kg) with a single actuator. Accordingly, two novel mechanisms, an actuation system with self-motion switching and a self-adaptive finger with a self-locking mechanism, are installed in a 1-degree-of-freedom robotic hand. The actuation system switches the output motion from translational to rotational according to the applied external load. The finger is bent by inserting a flexible shaft inside it. Its bending posture can conform to the shape of the object owing to the flexible shaft, and the posture is fixed by a self-locking mechanism, which can be released by the rotational motion of the actuation system. This study presents a mechanical analysis of these mechanisms to achieve the desired behavior. The analysis was validated experimentally, and a robotic hand with these mechanisms were evaluated using grasping tests.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2023.3254461