Design of the Self-adaptive Robot Finger Triggered by Light Pression with Cooperative Assistant

Abstract

This paper proposes an electronic trigger assisted coupled and self-adaptive finger, LPCA finger. LPCA finger is provided with two joints, two motors, two sensors and a control module, which realizes coupling during the startup phase of grabbing and self-adaptive in the next stage. According to its self-adaptive characteristics, the device can grasp the target of uncertain size and type. The pressure sensor is used to collect the information of the object contacted by the phalanges, and the second motor can be triggered to cooperate with the assistance of self-adaptive grasping with only a small extrusion pressure to avoid the damage caused by excessive extrusion pressure on the object caused by the proximal phalange in the grasping process. The finger end grasping force is large and the structure is simple. This paper introduces the design of LPCA finger, and gives the force analysis of finger. Force analysis and experiments indicate that LPCA finger possess coupled and self-adaptive function and its end grasping is stable.