GSR hand: Linear-parallel and self-adaptive hand with gear and sliding-rod mechanisms

Circular parallel hands require manipulators to cooperate with hands while grasping objects, so that their control methods are complicated. This paper introduces a linear pinch into self-adaptive grasping and proposes a novel hybrid grasping mode, a linear-parallel and self-adaptive (Linear-PASA) mode. This paper designs a new robot hand for Linear-PASA mode (GSR Hand). The GSR Hand has three double-joint GSR fingers. Each finger is driven by one motor, through gear and sliding-rod mechanisms and an idle-stroke kinematic pair and double spring-limit. To achieve the Linear-PASA function: According to different shapes and locations of objects, the GSR finger can maintain the posture of the second phalange and move the second phalange to clamp the object grasped parallel and linearly, it can also rotate the second phalange to envelope grasp the object self-adaptively when the first phalange is blocked by the object. The result of the simulation and experiment indicate that GSR hand can realize Linear-PASA mode.