Abstract
Robots with straight-line output have many advantages over others, especially in case of precision-grasping and dealing with small or thick objects. This paper develops a novel linear-parallel robotic hand, which can perform linear-parallel pinching grasp via a relatively simple structure. The hand consists of 2 fingers and 4 degrees of freedom (DOFs). The working principle of the straight-line motion is based on a straight-line mechanism. Both kinematics and mathematic analysis are performed to give more details about the design. Grasping experimental results show the grasping stability and the versatility of the hand. Furthermore, the motion properties of the linear output as well as how the parameters of the bars influence the shape of the guides were analyzed. The results of the analysis indicate the proposed mechanism has relatively stable output speed. Finally, the prototype of the hand was manufactured and experiments are conducted to verify the design. The hand has much potential in industrial application.
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Acknowledgment
This Research was supported by National Natural Science Foundation of China (No. 51575302).
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Luo, C., Zhang, W. (2018). Development of a Novel Linear-Parallel Robot Hand. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_2
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DOI: https://doi.org/10.1007/978-3-319-97589-4_2
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