DSCL Hand: A Novel Underactuated Robot Hand of Linearly Parallel Pinch and Self-adaptive Grasp with Double-Slider Co-circular Linkage Mechanisms

This paper introduces a novel underactuated robot hand of linearly parallel pinch and self-adaptive grasp. Each finger has one joint, which is enabled by double-slider co-circular linkage mechanisms, a parallelogram mechanism and two gears. Targeting for objects of different sizes, shapes and poses, DSCL Hand achieves two grasp modes with only one actuator: (1) linear parallel pinch for precise grasping; (2) self-adaptive grasp for firm grasping. Particular attention is given to the linear parallel pinch mode, where the trajectory of fingertip is a straight line. It is important for precise grasping and realized by the novel double-slider co-circular linkage mechanisms. The switch of grasping modes is mechanically automatic without complex sensors or control. Kinematics analysis, motion simulation and prototype experiments verify the versatility of the proposed DSCL Hand.