Research on Grasping Strategy of CTSAII Hand To solves the problem of insufficient generality of CTSAII hand at different heights, four feasible grasping strategies are proposed in this paper. Four strategies are analyzed in detail from the aspects of feasibility and complexity, and Strategy D is selected for the indepth study after comparison. The idea of Strategy D is to detect the pressure change in CTSAII hand device to assist in determining when to use a negative pressure drive. Based on Strategy D, a complete CTSAII hand system is constructed. Through a large number of experimental calibration and verification, this system solves the problem of insufficient generality of CTSAII hand. and makes CTSAII hand show good performance. It plays an important role in the application and development of CTSAII hand.

Switchable Parallel Grasping, Coupled and Selfadaptive Robot Hand with IdleStroke Transmission Mechanism This paper proposes a switchable parallel grasping, coupled and selfadaptive robot hand with idlestroke transmission mechanism (SPCSIS hand) which integrates the three basic grasping modes, namely parallel grasping mode, coupled grasping mode and selfadaptive grasping mode. The idlestoke transmission mechanism (IS mechanism) is adopted into the robot hand mechanism design, so as to introduce two stages for the robot hand grasping motion. The SPCSIS hand uses a switching device to realize the transformation between parallel grasping and coupled grasping for the first stage of grasping motion, then it will perform the selfadaptive grasping mode for the second grasping stage under the action of spring and limit device. The whole device contains only one motor and uses gear train to complete power transmission. Due to the integration of multiple grasping modes, the SPCS hand has stronger function and wider application range, especially its selfadaptability makes it can achieve envelopment for objects with different size and shape. Kinematic analysis and dynamic analysis are performed to research the adaptability and grasping ability of SPCS hand.