Design of A Cluster Tube Self Adaptive Robot Hand with Function of Fast Grasping

摘要

The fast and universal grasping of robotic hand is studied. A scheme of changing active-driven grasping to passive-driven grasping is proposed, which realizes fast grasping of cluster-tube self-adaptive (CTSA) robot hand. Based on this scheme, a CTSA hand with fast grasping function (CTSA-FA hand) is designed. The CTSA-FA hand includes base, motor, cam and sliding tube assembly. The CTSA-FA hand can achieve performance of fast grasping. The theoretical model of CTSA-FA hand is established, some parameters are optimized. CTSA-FA hand is suitable for occasions that need universal grasping, and also for those that need fast grasping.