A Novel Coupling-Parallel-Adaption Merged Underactuated Finger with Link-wheel Mechanism

摘要

This paper introduces in detail a novel coupling-parallel-adaption merged underactuated finger (The CPAM finger). By realizing the switching of two states of coupling and parallel pinching, the CPAM finger can execute a coupling grasp, a parallel pinching grasp, and a self-adaptive grasping mode. The CPAM finger consists of a power input device, a power transmission mechanism, a coupling transmission mechanism, a parallel-pinching transmission mechanism, a limiting mechanism, and a switching device. The kinematics analysis shows that the CPAM finger has a wider grasping space than the traditional underactuated finger. The static analysis shows that the CPAM finger provides a sufficient and reliable grasp. The experimental results show that the CPAM finger can achieve pinching, coupling grasping, self-adaptive grasping. Therefore, the CPAM finger is suitable for a wide use.