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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Published in | Intelligent Robotics and Applications pp. 739 - 751 |
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Main Authors | , , , , |
Format | Book Chapter |
Language | English |
Published |
Cham
Springer International Publishing
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Series | Lecture Notes in Computer Science |
Subjects | |
Online Access | Get full text |
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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. |
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ISBN: | 9783319652917 3319652915 |
ISSN: | 0302-9743 1611-3349 |
DOI: | 10.1007/978-3-319-65292-4_64 |