COSA-FBA Hand: An Underactuated Hand with Five-gear Mechanisms and Built-in Actuators
This paper proposes a novel underactuated hand,COSA-FBA hand,which performs coupled and self-adaptive grasping.The COSA-FBA hand consists of 5 fingers and 14 degrees of freedom.The COSA-FBA finger consists of an actuator embedded into its proximal phalange,a five-gear mechanism and a spring,which allows it to finish multiple grasping postures such as enveloping and pinching,depending on the shape,size,and dimension of the object.The COSA-FBA hand has advantages of concise structure,low cost,high efficiency and space-saving of the palm.The coupled and self-adaptive hand has a wide arrange of applications.
Robot hand Underactuated finger Coupled and self-adaptive grasp
Siqiao Ruan Wenzeng Zhang Tianyi Zhang Shuang Song
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
国际会议
广州
英文
121-130
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）