Research of the relation between configuration and skin-friction coefficient of an underactuated hand based on the maximum grasping space

Abstract

In order to complete the grasping mission in space, a novel underactuated robotic hand which belongs to not only the tendon-pulley transmission but also the double-stage mechanisms, is proposed. The hand which has three joints is controlled by a single motor during the grasping process. Based on grasping model, the relation equation which reveals the relation among the driving force, the equivalent torques on joints, and the grasping forces is established by using vector mechanics and the principle of virtual work. Under the condition that the maximal grasping space is an envelope circle with the radius of 1250 mm, all the stable grasping configurations and the relation between the shortest lengths of finger and the skin-friction coefficient is analyzed.