Advertisement

JLST Hand: A Novel Powerful Self-adaptive Underactuated Hand with Joint-Locking and Spring-Tendon Mechanisms

  • Jiuya Song
  • Wenzeng ZhangEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9979)

Abstract

This paper proposes a novel spring-tendon self-adaptive underactuated hand, called JLST hand, which can perform simultaneous multi-joint locking grasp. A JLST hand is designed with three JLST fingers and 6 degrees of freedom (DOFs). The JLST hand has more stable grasp ability and a larger grasping force than the normal spring-tendon robot hand, because the JLST hand has simultaneous multi-joint locking mechanisms. The JLST finger uses one motor to realize grasping objects, releasing objects and locking joints. The spring-tendon mechanism is based on the spring force to grasp objects and using the motor to pull the tendon to release the object. The JLST finger also uses one motor pulling the tendon to release the object and spring force to grasp objects, but the difference is JLST finger also uses the motor to lock multi-joints. Once the motor is turning forward, the finger releases the object; once the motor is turning backward, the motor releases the tendon so that the finger will grasp; the blocker is going to lock the joint since the motor keeps turning backward. The calculation and simulation results show that the JLST hand has the high stability of grasp and is more powerful than the normal spring-tendon hand.

Keywords

Robot hand Underactuated finger Joint-locking Spring-tendon mechanism 

Notes

Acknowledgement

This Research was supported by National Natural Science Foundation of China (No. 51575302).

References

  1. 1.
    Loucks, C.S.: Modeling and Control of the Stanford/JPL Hand. In: 1987 International Conference on Robotics and Automation, pp. 573–578 (1987)Google Scholar
  2. 2.
    Jacobsen, S.C., Iversen, E.K., Knutti, D.F., et al.: Design of the Utah/MIT Dextrous Hand. In: IEEE International Conference on Robotics and Automation, pp. 1520–1532 (1986)Google Scholar
  3. 3.
    Butterfass, J., Grebenstein, M., Liu, H., et al.: DLR-Hand II: next generation of a dextrous robot hand. In: IEEE International Conference on Robotics and Automation (ICRA), vol.1, pp. 109–114 (2001)Google Scholar
  4. 4.
    Dollar, A., Howe, D.: Joint coupling design of underactuated grippers. In: ASME Mechanical and Robotics Conference, 2006 International Design Engineering Technical Conference (IDETC), Philadelphia, July 2005, pp. 10–13 (2006)Google Scholar
  5. 5.
    Dubey, V., Crowder, M.: Grasping and control issues in adaptive end effectors. In: ASME Design Engineering Technical Conference and Computers and Information in Engineering Conference New York, May 2004, pp. 1–9 (2004)Google Scholar
  6. 6.
    Zhang, W., Chen, Q., Sun, Z., et al.: Under-actuated passive adaptive grasp humanoid robot hand with control of grasping force. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 696–701 (2003)Google Scholar
  7. 7.
    Che, D., Zhang, W.: GCUA humanoid robotic hand with tendon mechanisms and its upper limb. Int. J. Soc. Robot. 3(1), 395–404 (2011)CrossRefGoogle Scholar
  8. 8.
    Zhang, W., Tian, L., Liu, K.: Study on multi-finger under-actuated mechanism for TH-2 robotic hand. In: IASTED International Conference on Robotics and Applications, pp. 420–424 (2007)Google Scholar
  9. 9.
    Demers, L.A., Lefrancois, S., Jobin, J.: Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping. US Patent, US8973958 (2015)Google Scholar
  10. 10.
    Liang, D., Zhang, W., Sun, Z., et al.: PASA finger: a novel parallel and self-adaptive underactuated finger with pinching and enveloping grasp. In: IEEE International Conference on Robotics and Biomimetics. IEEE (2015)Google Scholar
  11. 11.
    Li, G., Liu, H., Zhang, W.: Development of multi-fingered robotic hand with coupled and directly self-adaptive grasp. Int J. Humanoid Robot. 9(4), 1–18 (2012)CrossRefGoogle Scholar
  12. 12.
    Stark, M.: Artificial hand. US Patent, US7655051 (2010)Google Scholar
  13. 13.
    Shin, Y., Rew, K., Kim, R., et al.: Development of anthropomorphic robot hand with dual-mode twisting actuation and electromagnetic joint locking mechanism. In: IEEE International Confernce on Robotics and Automation (ICRA), pp. 2759–2764 (2013)Google Scholar
  14. 14.
    Yang, Y., Zhang, W.: Bending self-locking pneumatic under-actuated robot finger device. CN Patent, CN103659825Google Scholar

Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringTsinghua UniversityBeijingChina

Personalised recommendations