Two-degree-of-freedom underactuated robot fingers are mainly two kinds of hybrid grasping modes, that is, coupled self-adaptive hybrid grasping mode (called COSA mode) and parallel self-adaptive hybrid grasping mode (called PASA mode). Traditional two-degree-of-freedom underactuated robot fingers mostly can only achieve one single grasping mode, either the PASA mode or the COSA mode. The paper puts forward a novel two-degree-of-freedom self-adaptive underactuated finger for parallel and coupled switching, called PACSSA finger. The PACSSA finger mainly consists of four racks, moving slider, switching slider, empty-trip block, transmission block and two springs. Kinetic analysis and experimental results show that the PACSSA finger can achieve not only PASA mode but also COSA mode after simple manual switching. When grasping in PASA mode, the PACSSA finger can autonomously execute parallel grasping and self-adaptive grasping. When grasping in COSA mode, the PACSSA robot hand can autonomously execute coupled grasping and self-adaptive grasping.
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