This paper proposes a novel concept of underactuated grasping mode, called PCSS grasping mode. This mode has switchable hybrid grasping functions: parallel self-adaptive grasping (PASA) and coupled self-adaptive grasping (COSA), being able to grasp larger range of objects with different shapes and dimensions than traditional PASA and COSA hands. The PCSS grasping can execute different grasping modes: a parallel pinching (PA); a coupled hooking (CO); a self-adaptive encompassing (SA); parallel and self-adaptive hybrid grasping (PASA); coupled and self-adaptive hybrid grasping (COSA). A PCSS Hand is developed with three PCSS fingers and 6 degrees of freedom. Simulation analysis shows the high stability and the versatility of the PCSS Hand.
CITATION STYLE
Song, S., & Zhang, W. (2016). PCSS hand: An underactuated robotic hand with a novel parallel-coupled switchable self-adaptive grasp. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9979 LNAI, pp. 481–491). Springer Verlag. https://doi.org/10.1007/978-3-319-47437-3_47
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