LIPSAY Hand: A Linear Parallel and Self-adaptive Hand with Y-Shaped Linkage Mechanisms

In order to overcome the shortcoming that traditional self-adaptive underactuated robot hands cannot perform linear parallel pinching, this paper presents a novel linear parallel and self-adaptive hand with y-shaped linkage mechanism, LIPSAY hand. The LIPSAY hand uses y-shaped linkage mechanisms to...

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Bibliographic Details
Published inIntelligent Robotics and Applications pp. 739 - 751
Main Authors Hu, Jian, Li, Ke, Zhang, Wenzeng, Xu, Xiangrong, Rodic, Aleksandar
Format Book Chapter
LanguageEnglish
Published Cham Springer International Publishing
SeriesLecture Notes in Computer Science
Subjects
Linear parallel pinching
Linkage mechanism
Self-adaptive grasping
Underactuated hand
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Summary:In order to overcome the shortcoming that traditional self-adaptive underactuated robot hands cannot perform linear parallel pinching, this paper presents a novel linear parallel and self-adaptive hand with y-shaped linkage mechanism, LIPSAY hand. The LIPSAY hand uses y-shaped linkage mechanisms to achieve linear parallel pinching, and the pulley-belt and double-slider mechanisms to perform self-adaptive grasping. Compared with traditional underactuated hands, the LIPSAY hand can realize the hybrid function of precise linear parallel pinching and self-adaptive grasping. The LIPSAY hand has strong grasping adaptability and high grasping stability, which is suitable for industrial applications.
ISBN:9783319652917
3319652915
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-319-65292-4_64