Dexterous and Self-adaptive Under-Actuated Humanoid Robot Hand: GCUA Hand II

摘要

Traditional under-actuated function can make robotic hands low depend on complex control, however, it cannot ensure the hands enough flexibility to grasp or operate. A gesture-changeable under-actuated (GCUA) function is presented to make traditional under-actuated hands grasp and manipulate more dexterously, simultaneously to lower the high dependence of robotic hands on control system. This paper presents a novel under-actuated humanoid robot hand: GCUA Hand II, which is designed with GCUA function. The hand has 5 fingers and 14 DOFs. All fingers use tendon mechanisms to achieve GCUA function which includes traditional under-actuated (UA) grasping motion and special pre-bending (PB) motion. Operation principles and force analyses of the fingers are given, and the effect of GCUA function on the movements of the hand is discussed. The control system of the hand is described. The analyses and experimental results show that the GCUA function is very nice and valid. The hands with the GCUA function can meet the requirements of grasping and operating with lower control and cost, which is the middle road between traditional under-actuated hands and dexterous hands.