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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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Published in: | IEEE robotics and automation letters 2023-05, Vol.8 (5), p.1-8 |
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Main Authors: | , , |
Format: | Article |
Language: | English |
Subjects: | |
Citations: | Items that this one cites Items that cite this one |
Online Access: | Get full text |
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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. |
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ISSN: | 2377-3766 2377-3766 |
DOI: | 10.1109/LRA.2023.3254461 |