High-Payload and Self-Adaptive Robotic Hand With 1-Degree-of-Freedom Translation/Rotation Switching Mechanism

This study proposes a novel robotic hand that can achieve self-adaptive grasping and large payload (over 20 kg) with single actuator. Accordingly, two mechanisms, an actuation system self-motion switching finger self-locking mechanism, are installed in 1-degree-of-freedom hand. The switches the output motion from translational to rotational according applied external load. is bent by inserting flexible shaft inside it. Its bending posture conform shape of object owing shaft, fixed which be released system. presents mechanical analysis these mechanisms desired behavior. was validated experimentally, were evaluated using tests.