HIGHLY COUPLED AND SELF-ADAPTIVE HUMANOID ROBOT HAND WITH GEAR-RACK AND PULLEY-BELT MECHANISMS

摘要

This paper proposed a novel grasping mode, called Coupling and Self-adaptive (COSA) grasping mode, aiming to overcome the disadvantages of the two main kinds of under-actuated fingers: coupled finger and self-adaptive finger. The COSA grasping mode includes 2 stages: coupling grasping and self-adaptive grasping. A 2-joint COSA finger was developed to demonstrate the new grasping function, based on a gear-rack mechanism and a pulley-belt mechanism, called COSA-RB finger. Force analyses and structure optimization rules of the new finger are given and discussed in detail. The experimental results show that the COSA grasping mode of the finger is effective. A highly under-actuated humanoid robot hand is designed based on the COSA grasping mode, called the TH-COSA-RB Hand. All fingers of the hand are COSA-RB fingers. The hand is more similar to human hand in appearances and actions, able to more dexterously and stably grasp different objects than traditional coupled or self-adaptive hands.