Changeable Grasping Force Unit for Under-Actuated Gripper with Self-adaptive Grasping

The grasping force of traditional under-actuated hands can hardly be kept during grasping. It is a crucial task to improve the grasping forces of robotic hands. Changeable grasping forces unit is one of the most effective solutions. This paper proposed a linkage changeable grasping force (CGF) unit integrated with linkage under-actuation mechanism in accordance with summary of proceeding work of CGF units in TH series. The inner space of the finger is fully used by the CGF unit. Analysis is conducted to explain relation between changeable forces and corresponding parameters. As a consequence, the CGF unit presented in this paper not only provides changeable forces for TH-3L Hand but also throw light on design approach which combines CGF unit and under-actuation.