A novel cluster-tube self-adaptive robot hand

Area of Science:

• Robotics
• Mechanical Engineering
• Mechatronics

Background:

• Traditional robotic hands often struggle with grasping irregularly shaped or sized objects.
• The need for versatile robotic grippers that can adapt to various object geometries is increasing in automation.

Purpose of the Study:

• To propose and evaluate a novel cluster-tube self-adaptive robot hand (CTSA Hand).
• To demonstrate the CTSA Hand's capability for self-adaptive grasping of objects with different sizes and shapes.
• To investigate the potential for simultaneous multi-object grasping and controlled grasping forces.

Main Methods:

• The CTSA Hand design incorporates a base, motor, transmission, elastic tendons, and sliding-tube assemblies.
• Each assembly features sliding tubes, guide rods, springs, and hinges that adjust based on object contact.
• A closed-loop control system with a potentiometer manages grasping forces.

Main Results:

• The CTSA Hand successfully achieved self-adaptive grasping for objects of varying sizes and shapes.
• The design allows for simultaneous grasping of multiple objects due to its multi-directional gripper configuration.
• Experimental results confirmed high self-adaptation and significant grasping forces.

Conclusions:

• The proposed CTSA Hand offers a highly adaptable and effective solution for robotic grasping.
• Its unique cluster-tube mechanism enables versatile manipulation of diverse objects.
• The CTSA Hand shows promise for applications requiring adaptive and robust grasping capabilities.