Indirectly Self-Adaptive Underactuated Robot Hand with Block-Linkage Mechanisms

摘要

A novel indirectly self-adaptive (ISA) underactuated hand with block-linkage mechanism is developed in this paper. There are two basic requirements for design of a humanoid robot hand. Firstly, regarding the function of the hand, the hand should be able to stably grasp common objects with different shapes and sizes. Secondly, regarding the structure of the hand, the hand should be similar to a human hand in its appearance and joint degrees of freedom (DOFs). The ISA Hand reaches the balance point in meeting both of requirements. The ISA Hand has 5 fingers, 14 joint DOFs and only 5 motors. There are nine ISA joints in the ISA Hand. All fingers are similar in structure. The thumb has two joints, one in which is the ISA joint. Four fingers in the ISA hand have three joints, two in which are the ISA joint. The reacting force from objects in grasping process can be used to drive the ISA joint. The architecture, grasping process and force analysis of the ISA finger are given in detail. Experimental results show that the ISA Hand can grasp different objects stably.