Design of Linear Parallel and Self-Adaptive Hand with Y-Shaped Linkage Mechanisms

The traditional underactuated hand cannot perform accurate linear parallel pinching or self-adaptive grasping. In order to combine the abilities of linear parallel pinching and self-adaptive grasping, this paper introduces a novel linear parallel and self-adaptive underactuated hand (LIPSAY-2 hand). The LIPSAY-2 hand uses y-shaped linage mechanisms to achieve accurate linear parallel pinching, and the linkage and double-slider mechanisms to perform self-adaptive grasping. It can choose different grasping modes according to the shapes and sizes of the target objects regarding their special structures. Analysis results show that the LIPSAY-2 hand can efficiently coordinate between the pinching mode and self-adaptive mode, also the grasp process stability and reliability. So the LIPSAY-2 hand is suitable for a wide range of use.