LIPSA Hand: A Novel Underactuated Hand with Linearly Parallel and Self-adaptive Grasp

摘要：

　　This paper proposes a novel robotic hand which contains linearly parallel and self-adaptive grasping modes,called LIPSA hand.The LIPSA hand is composed of a common basement,two fingers,two motors and the transmission mechanism.The LIPSA hand contains three modes: linearly parallel (LIP) gripping mode,self-adaptive (SA) grasping mode and the LIP-SA hybrid grasp mode.One finger linearly parallel grip the object and the other finger self-adaptive grasp the object on the same time.It is the object’s position,size,shape and weight that the mode which the LIPSA hand chooses depends on.The LIPSA hand is wide range in grasp,light in weight,small in size and low in cost.The Analysis results show that the LIPSA hand is valid and can be used in the various environment.

关键词： Robot hand Underactuation Linearly parallel gripping Self-adaptive grasping Hybrid grasping

作者: Yang Yang Wenzeng Zhang Xiangrong Xu Handong Hu Jian Hu

作者单位: Department of Mechanical Engineering, Tsinghua University,Beijing 100084, China;School of Mechanical Department of Mechanical Engineering, Tsinghua University,Beijing 100084, China School of Mechanical Engineering, Anhui University of Technology,Ma’anshan 243002, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 111-119

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）