Design, modeling and validation of a low-cost linkage-spring telescopic rod-slide underactuated adaptive robotic hand

摘要

Abstract The incorporation of human-like gripping capabilities enhances the flexibility and adaptability of robotic hands (RH) within dynamic production environments, serving as a critical factor in advancing industrial automation and intelligence. To facilitate cost reduction in the RH industry without compromising performance, humanoid gripping capabilities have gained popularity and become more economically accessible. This paper presents the design of a cost-effective underactuated adaptive RH (UARH), characterized by a link-spring telescopic rod-contact plate-slide mechanism. Upon actuation of the metacarpophalangeal joint, the proximal interphalangeal and distal interphalangeal joints achieve the desired grasping configuration through the preload state of the spring telescopic rod or the geometric characteristics of the object being grasped. Static modeling analysis reveals effective interaction and linkage relationships among the driving force, contact force, joint angle, and contact position of this UARH. The results from prototype testing confirm these characteristics. Consequently, it is evident that this UARH exhibits excellent dexterity, adaptability, and grasping capability, while maintaining a simple structure and low cost.