A parallel and self-adaptive underactuated finger with novel belt and cam-link mechanisms

Abstract

A traditional robot finger can achieve either pinching or enveloping grasp instead of both functions. It is necessary to design a finger combining with both functions. This paper designs a novel parallel and self-adaptive underactuated robotic finger with belt and cam-link mechanism, named as PASA-BCL finger, which mainly consists of a motor, a cam-link part, two pulleys, a spring, a mechanical limit. The functions of the PASA-BCL finger contains two grasping modes: parallel (PA) pinching grasp for precision grasp, and self-adaptive (SA) enveloping grasp for power grasp. The finger can change its grasping mode depending on the position of object blocking naturally. The PASA-BCL finger is small in size, light in weight, and low in cost. Analysis results show that the PASA-BCL finger is valid and can be applied for grasping in various environment.