A Robot Gripper with Differential and Hoecken Linkages for Straight Parallel Pinch and Self-Adaptive Grasp

Parallel pinch is an important grasp method. The end phalanx of the traditional parallel and self-adaptive gripper moves in arc trajectory, which requires auxiliary lifting motion industrial manipulator, inconvenient to use. To solve this problem, a novel robot finger designed implemented—Hoecken’s finger. In finger, Hoecken linkage mechanism used realize straight-line trajectory joint, differential set on surface phalanxes shape self-adaptation first second phalanxes, four-bar series attitude keeping, thus comprehensively realizing underactuated driven by single motor. After analyzing force Hoecken’s fingers, optimized parameters are obtained, developed. experimental results show that can function straight pinch, stable, range large. It be applied more scenes need objects.