This paper proposes a novel self-adaptive robot hand with pin-array structure. The robot hand is composed of a quite concise structure, including a base, a pin-array, a spring-array and a membrane. When the robot hand grasping an object, the object pushes some pins to different position and membrane to a specific shape, and then the vacuum drives the robot hand to grasp. This robot hand realizes self-adaptive grasping of different sizes and shapes. Compared to traditional robot hand, this novel robot hand has the advantage of concise structure, small volume and large contact area with the object when grasping. The theoretical proof shows the robot hand can achieve enough grasping force. The experimental results show the high stability of the grasps and versatility of the robot hand. This robot hand has a wide range of applications.
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