Abstract
This paper introduces a novel underactuated hand, the PASA-GB hand which has a hybrid grasping mode. The hybrid grasping mode is a combination of parallel pinching (PA) grasp and self-adaptive enveloping (SA) grasp. In order to estimate the performance of grasping objects, the potential energy method is used to analyze the stabilities of the PASA-GB hand. The calculation of force distribution shows the influence of the size and position of objects and provides a method to optimize the force distribution. Experimental results verify the wide adaptability and high practicability of the PASA-GB hand.
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CITATION STYLE
Liang, D., & Zhang, W. (2016). A novel parallel pinching and self-adaptive grasping robotic hand. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9979 LNAI, pp. 469–480). Springer Verlag. https://doi.org/10.1007/978-3-319-47437-3_46
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