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Development of a directly self-adaptive robot hand with pulley-belt mechanism

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Abstract

Directly self-adaptive under-actuated (DSUA) hands have great potential to stably grasp different objects in unstructured environments. This paper develops a DSUA Hand based on multi-pulley-belt mechanism, which consists of 5 fingers and has 14 DOF. Self-adaptation is designed as the main function of it. The stability of DSUA hand’s grasping process does not highly depend on control algorithm, sensors or control system. This DSUA fingers are based on multi-pulley-belt mechanism. A mathematical model of the 3-joint finger’s contact force is given. Contact force analyses of the DSUA finger are discussed in detail. DSUA Hand weighs 0.94 kg and can grasp objects up to 0.6 kg. The grasping adaptation of DSUA hand is certified by grasping experiments of different objects.

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Abbreviations

F 1 :

force caused by grasped object to first phalanx, N

F 2 :

force caused by grasped object to second phalanx, N

F 3 :

force caused by grasped object to third phalanx, N

T M1 :

torque caused by the motor to the first pulley with regard to the first shaft, motor torque for short, Nmm

T S1 :

torque caused by the first spring with regard to the second shaft, first spring torque for short, Nmm

T S2 :

torque caused by the second spring with regard to the third shaft, second spring torque for short, Nmm

T S3 :

torque caused by the third spring with regard to the fourth shaft, third spring torque for short, Nmm

f 1 :

force exerted on the second pulley by the first belt, N

f 2 :

force exerted on the third pulley by the second belt, N

f 3 :

force exerted on the fourth pulley by the third belt, N

r 1, r 2, r 3, r 4 :

radii of the first, the second, the third and the fourth pulley, mm

θ M :

the rotational angle of the first pulley, rad

θ 1 :

the rotational angle of the first phalanx, rad

θ 2 :

the rotational angle of the second phalanx, rad

θ 3 :

the rotational angle of the third phalanx, rad

h 1 :

the arm of force F 1 with regard to the second shaft, mm

h 2 :

the arm of force F 2 with regard to the third shaft, mm

h 3 :

the arm of force F 3 with regard to the fourth shaft, mm.

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Authors and Affiliations

  1. Key Laboratory for Advanced Materials Processing Technology (Ministry of Education), Dept. of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Guoxuan Li, Bowen Li, Jie Sun, Wenzeng Zhang, Zhenguo Sun & Qiang Chen

  2. Dept. of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA

    Wenzeng Zhang

Authors
  1. Guoxuan Li
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  2. Bowen Li
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  3. Jie Sun
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  4. Wenzeng Zhang
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  5. Zhenguo Sun
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  6. Qiang Chen
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Correspondence to Wenzeng Zhang.

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Li, G., Li, B., Sun, J. et al. Development of a directly self-adaptive robot hand with pulley-belt mechanism. Int. J. Precis. Eng. Manuf. 14, 1361–1368 (2013). https://doi.org/10.1007/s12541-013-0184-x

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  • DOI: https://doi.org/10.1007/s12541-013-0184-x

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