Coupled and Self Adaptive Under Actuated Finger With a Novel S Coupled and Secondly Self Adaptive Mechanism

Abstract

This paper presents a novel underactuated (UA) finger with first coupled and secondly selfadaptive (COSA) grasping mode. COSA fingers can adaptively grasp objects with different sizes and shapes while its motions during grasping are anthropopathic. Until now there are two COSA mechanisms available and they are both direct parallel combinations of coupled mechanism and selfadaptive mechanism. These kind of direct combinations lead to complex mechanical structure and high power consumption. This paper proposes a novel singleroute transmission mechanism for COSA grasping mode, Scoupled and directly selfadaptive (CDSA) mechanism for short. Compared with available COSA mechanisms, the SCDSA mechanism has simpler structure and higher grasping force. Design of 2joint SCDSA finger is introduced in this paper. Force analysis for 2joint SCDSA finger is given. Furthermore, a 2joint SCDSA finger is manufactured. The force analysis and experimental results show that the novel SCDSA mechanism is effective.