Development of Multi-fingered Robotic Hand with Coupled and directly Self-Adaptive Grasp

This paper presents a coupled and directly self-adaptive underactuated (CDSA) grasp mode, which has hybrid functions: coupled grasp and directly self-adaptive grasp. A novel multipulley-belt ̄nger mechanism with springs is designed based on CDSA grasp mode. Compared with traditional coupled underactuated ̄ngers or directly self-adaptive underactuated ̄ngers, the grasp process of the new ̄nger is more humanoid and its stability is better. Force analysis and size optimization rules of the ̄nger are given. A multīngered robotic hand, CDSA hand, based on the CDSA ̄nger is developed, whose control system adopts a digital signal processor (DSP) circuit module with a keyboard as its communication interface. The CDSA hand has ̄ve ̄ngers, six DC motors, and 15 joint DOF, nine of which are CDSA joint DOF. The appearance and actions of CDSA hand imitate human hand, whose size is 1.5 times of human hand. CDSA hand weighs 1.6 kg and can grasp objects up to 0.5 kg. Simulation and experimental results show that CDSA hand is able to realize CDSA grasp mode e®ectively.