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Appl. Sci. 2019, 9(8), 1566; https://doi.org/10.3390/app9081566

VGS Hand: A Novel Hybrid Grasping Modes Robot Hand with Variable Geometrical Structure

1,2,3 and 1,2,3,*
1
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
2
Dept. of Mechanical Engineering, Tsinghua University, Beijing 100084, China
3
Key Laboratory for Advanced Materials Processing Technology (MOE), Tsinghua University, Beijing 100084, China
*
Author to whom correspondence should be addressed.
Received: 4 March 2019 / Revised: 12 April 2019 / Accepted: 12 April 2019 / Published: 15 April 2019
(This article belongs to the Section Mechanical Engineering)
PDF [1785 KB, uploaded 15 April 2019]

Abstract

Robot hand is the device used for robots to interact with the environments, it has many potential applications. Traditional robot hands cannot translate their finger end along a straight line, which makes them not suitable for grasping thin objects on a flat surface. In order to overcome the bottleneck of traditional hands and enlarge the application possibility of robot hands, this paper develops a novel hybrid grasping modes hand with the variable geometrical structure (called VGS hand). The hand consists of 4-DOF (degree of freedom), two actuators and two fingers. It can perform both linear-parallel and self-adaptive grasping modes. Kinematics, dynamics, and contact forces analysis are conducted to provide a theoretical reference for the design. A prototype was manufactured for grasping experiments; the results of the experiments indicate that the hand has a good grasping performance and can meet different application requirements.
Keywords: robot hand; mechanism design; hybrid grasping modes; underactuated hand; kinematics robot hand; mechanism design; hybrid grasping modes; underactuated hand; kinematics
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Luo, C.; Zhang, W. VGS Hand: A Novel Hybrid Grasping Modes Robot Hand with Variable Geometrical Structure. Appl. Sci. 2019, 9, 1566.

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