Paper Info
Title
A Novel Coupling-Parallel-Adaption Merged Underactuated Finger With Link-Wheel Mechanism
Abstract
This paper introduces in detail a novel coupling-parallel-adaption merged underactuated finger (The CPAM finger). By realizing the switching of two states of coupling and parallel pinching, the CPAM finger can execute a coupling grasp, a parallel pinching grasp, and a self-adaptive grasping mode. The CPAM finger consists of 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 kinematics analysis shows that the CPAM finger has a wider grasping space than the traditional underactuated finger. The static analysis shows that the CPAM finger provides a sufficient and reliable grasp. The experimental results show that the CPAM finger can achieve pinching, coupling grasping, self-adaptive grasping. Therefore, the CPAM finger is suitable for a wide use.
Year
DOI
Venue
2018
10.1109/ROBIO.2018.8665176
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
Field
DocType
Citations 
GRASP,Kinematics,Coupling,Control theory,Static analysis,Control engineering,Engineering,Robot,Power transmission,Underactuation,Input device
Conference
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Wei Song111315.51
Wenzeng Zhang211631.90