Design and Analysis of a Novel Sucked-Type Underactuated Hand with Multiple Grasping Modes

The gripper of home service robot is required to be lightweight, appropriately-sized and compliant to grasp everyday objects. To meet the demand, an underactuated robot hand with suction cups is proposed which is capable of grasping objects of various shapes, sizes and materials. Using one actuator with tendon-driven mechanism, the inherent compliant hand can realize three grasping modes to adapt to different object shapes. Additionally, soft material applied on fingers makes the hand more flexible and controllable. Kinematic and mechanical analysis offer a theory evidence for design optimization and configuring proper grasping modes. Furthermore, in the experiment, robot hand is validated to have satisfactory grasping effect with three grasping modes.