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.

An Adaptive Robot Hand with Spiral Blade Expansion Slide Tube Robot hand has a wide range of applications in the field of robot, which is used to connect the robot and the object temporarily, and can be released at the appropriate time. The robot hand grabs the object first and then releases it. In order to reduce the cost, the general robot hand is made into two parts with relative motion in order to realize the function of grasping and releasing. There are also many structures that mimic human hands and are designed to have more fingers and several joints, but that leads to higher system complexity. In order to solve the problems of adaptability and complexity, we design an adaptive robot hand with spiral blade expansion slide tube array. The device is used to grasp objects and achieve the effect of multidirectional grasping of objects. It can provide grasping force to the object in many directions, especially has good adaptability to the top and side of the object, and adapts to the grasping of objects of different shapes and sizes. All kinds of shapes placed in different directions can be grasped effectively. In the design of the robot hand, due to the array arrangement of the sliding tube, when the sliding tube buckles to the object from top to bottom, it can first be adaptive to the object in the horizontal direction, and then the expansion of the elastic thin film tube can be adaptive to the side of the object. Combined with the ascending motion of spiral rotation, the multidirectional grasping effect is achieved. Compared with the traditional robot hand, the robot hand has higher adaptability and simpler maneuverability. In this paper, the detailed design scheme of the machine hand is given, and the feasibility of the device is verified by force analysis. After improvement, the device has a certain demand on the production line that needs to be grasped.