CSB-II Hand: A Universal Griper with Circular Sliding Bars

Because of its excellent discrete adaptive grasping function, the sliding bar array adaptive robot hand can reduce the difficulty of grasping planning in unstructured unknown environment, and has strong versatility of grasping, which has attracted much attention. We have developed an arc sliding rod manipulator CSB-II hand, and the improvement is based on further enlarging the grasping range on the CSB-I hand. The traditional CSB-I hand arc sliding bar cannot exceed the central plane and has a small sliding range, which is disadvantageous to grasp non-centered objects. In the design of CSB-II hand, the main drive shaft is changed from vertical direction to horizontal direction in CSB-I hand, which not only makes the tendon rope winding more reasonable, but also frees up sliding space of the sliding rod and enlarges the sliding range of the arc sliding rod by more than 30%. In addition, the overall arrangement is optimized, and the multi-group sliding rods in the arc alignment of the CSB-I hand are adjusted to matrix arrangement, which obtains better grasping effect of the flat clamp. Fruit. CSB-II hand drives multi-group finger clusters with a single motor, uses springs to achieve fast grasping, and uses tendon rope drive to achieve a unified restoration of the original state, which can achieve better off-line adaptive grasping effect. In this paper, the detailed design scheme of CSB-II hand is given, and the functional relationship among several key parameters is analyzed, which can be used as a reference for the design of this kind of robot hand. After further improvement, CSB-II hand may become one of the important schemes for future special robotic hand, especially for flexible robotic production lines requiring universal grasping.