Abstract
Robot hands have been developing during the last few decades. There are many mechanical structures and analytical methods for different hands. But many tough problems still limit robot hands to apply in homelike environment. The ability of grasping objects covering a large range of sizes and various shapes is fundamental for a home service robot to serve people better. In this paper, a new grasping mode based on a novel sucked-type underactuated (STU) hand is proposed. By combining the flexibility of soft material and the effect of suction cups, the STU hand can grasp objects with a wide range of sizes, shapes and materials. Moreover, the new grasping mode is suitable for some situations where the force closure is failure. In this paper, we deduce the effective range of sizes of objects which our hand using the new grasping mode can grasp. Thanks to the new grasping mode, the ratio of grasping size between the biggest object and the smallest is beyond 40, which makes it possible for our robot hand to grasp diverse objects in our daily life. For example, the STU hand can grasp a soccer (220 mm diameter, 420 g) and a fountain pen (9 mm diameter, 9 g). What’s more, we use the rigid body equilibrium conditions to analysis the force condition. Experiment evaluates the high load capacity, stability of the new grasping mode and displays the versatility of the STU hand. The STU hand has a wide range of applications especially in unstructured environment.
Highlights
Grasping is a significant function for robots especially for home service robots
We proposed an underactuated hand whose size is same as human hand combining the passive compliance of soft materials and the suction force of suction cups to realize this goal
Comes the far more smaller object with the radius of RSOHE and the sucked-type underactuated (STU) hand works in the Small Object Half‐Enveloping (SOHE) grasping mode in the meantime
Summary
Grasping is a significant function for robots especially for home service robots. In an unstructured environment such as homelike environment, diverse grasping seems to be essential to manipulate objects of different shapes and sizes [1]. Another approach is to let the number of actuators less than the number of degrees of freedom [10, 11] These hands can adapt the shape of object by utilizing flexible materials. There are many structures and analysis modes, there is still a long way for robotic hand to achieve the performance of human hand. The force closure analysis is a failure according to the study of Nguyen [29] To some extent, it is poor performance of robotic hands and lack of grasping mode that prohibit the application in home. We present a new grasping mode for our hand to grasp large object like soccer and small object like fountain pen.
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