Abstract
This paper proposes a soft robot hand with pin-array structure and self-adaptive function, CTSA-II hand, where CTSA is the Cluster tube self-adaption. The CTSA-II hand is designed with a quite concise structure and consists of bases, a pin array, a spring array, and a membrane. When the CTSA-II hand grasps an object, the pins will slide along the trajectory to conform to the profile of the object under the reaction force applied by the object, and thus the outer membrane will form a specific shape, and then the vacuum drives the CTSA-II hand to grasp the object. Theoretical analysis shows that the CTSA-II hand can generate enough grasping force and get good stability. Moreover, the optimization of its structure is achieved by studying the effects of specific parameters. The capture experimental results of the prototype show that the CTSA-II hand can realize self-adaptive grasping of different sizes and shapes with a high degree of fit and a high success rate. A series of research experiments show the influence of various factors on the grasping force, which verifies the results of the theoretical analysis with the CTSA-II hand. Compared to the traditional robot hand, the CTSA-II hand has good crawl performance, concise structure, small volume, and easy assembly.
Highlights
As one of the mediums for robots to interact with the outside world, robot hands have an important role and certain value for the research
Paper proposesthis a more universal grasping based grasping mode based on the adaptability of the slidable pins, which is the cluster tube self-adaptive on the adaptability of the slidable pins, which is the cluster tube self-adaptive mode, the clustertube tube self-adaptive (CTSA) mode
The grasping mode of CTSA was studied: the pin array slides up and down to realize the self-adaption to the shape and size of the target object, and all the pins are gathered to the center to grasp an object
Summary
As one of the mediums for robots to interact with the outside world, robot hands have an important role and certain value for the research. Traditional robot hands can be divided into three main types: industrial grippers, dexterous robot hands, and underactuated robot hands. Some industrial grippers use electromagnets and suction cups to achieve the function of grasping. This kind of gripper has the disadvantage of a single function, and a particular type of gripper can only be used on a particular type of production line. The dexterous robot hands are designed to mimic the structure of the human hand and are designed to have multiple fingers. Salibury [3] defines the dexterous robot hand like a robot hand with more than 3 fingers and more than 9 degrees of freedoms (DOFs).
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