Abstract
When the traditional under-actuated hands pinch the small objects, they tend to be unstable. To solve this problem, a new soft under-actuated hand is designed in this paper, which combines the soft fin-ray structure and the parallel under-actuated linkage mechanism. Compared with the traditional hands, the new design not only has the adaptive grasping mode, but also has the soft pinching mode, and through the pinching mode the small objects can be pinched stably. For tractable analysis, the design of the new hand is fully presented in this paper. Moreover, the force analysis and simulation are provided simultaneously. Finally, the experiments are conducted to verify the performance of the new design. The results indicate that the new hand could pinch small objects stably.
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