Paper Info
Title
The CPAM Hand: Coupling-Parallel-Adaption Merged Robot Hand
Abstract
The traditional underactuated fingers do not integrate the three grasping modes of coupling, parallel pinching and self-adaption grasping. In order to solve this problem, this paper proposes coupling-parallel-adaption merged (CPAM) grasping mode. By realizing the switching of two states of coupling and parallel pinching, the coupling, parallel pinching and self-adaptive grasping modes are integrated into one finger. According to CAPM mode, this paper develops CP AM finger, which includes a power input device, a power transmission mechanism, a coupling transmission mechanism, a parallel-pinching transmission mechanism, a limiting mechanism and a switching device. The switching device is a gear plate mechanism, which can freely switch the coupling mode and parallel-pinching mode, and can keep the finger posture when switching. Theoretical analysis and experimental results show that CP AM fingers can grasp in a suitable mode according to the position, shape and size of the objects, and the grasping range is large.
Year
DOI
Venue
2018
10.1109/HUMANOIDS.2018.8625054
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Keywords
Field
DocType
robot hand,underactuated finger,coupling-parallel switching,self-adaptive grasping,gear plate locking
Robot hand,Coupling,GRASP,Control theory,Computer science,Underactuation,Power transmission,Limiting,Input device
Conference
ISSN
ISBN
Citations 
2164-0572
978-1-5386-7284-6
0
PageRank 
References 
Authors
0.34
3
2
Name
Order
Citations
PageRank
Wei Song111315.51
Wenzeng Zhang211631.90