GRASPING PROCESS ANALYSIS ON GESTURE-CHANGEABLE UNDER-ACTUATED MECHANICAL FINGER

摘要

Comparing dexterous hands with under-actuated robotic hands, a demand is given that robot hands need to be more dexterous, cheaper and easier to control. Inspired from bionics, a new concept called gesture-changeable under-actuated (GCUA) function is put forward for meeting this demand by changing finger's initial gesture dexterously and grasping objects self-adaptively. A fresh mechanism is manufactured. The mechanism uses screw-nut transmission, flexible drawstring constraint and belt-pulley under-actuated mechanism to realise the new concept. The analyses of its grasping process and grasping stability are given. The GCUA mechanical finger is more dexterous and human-like than the traditional under-actuated fingers, easier to control than dexterous hands. The GCUA fingers have started a new way between dexterous fingers and under-actuated fingers.