LIPSA hand: A novel underactuated hand with linearly parallel and self-adaptive grasp

Abstract

This paper proposes a novel robotic hand which contains linearly parallel and self-adaptive grasping modes, called LIPSA hand. The LIPSA hand is composed of a common basement, two fingers, two motors and the transmission mechanism. The LIPSA hand contains three modes: linearly parallel (LIP) gripping mode, self-adaptive (SA) grasping mode and the LIP-SA hybrid grasp mode. One finger linearly parallel grip the object and the other finger self-adaptive grasp the object on the same time. It is the object’s position, size, shape and weight that the mode which the LIPSA hand chooses depends on. The LIPSA hand is wide range in grasp, light in weight, small in size and low in cost. The Analysis results show that the LIPSA hand is valid and can be used in the various environment.