PISA-GBM hand: An indirectly self-adaptive robot hand with built-in actuators

This paper presents a novel underactuated robot hand, the PISA-GBM hand, which reduced the difficulty of operation. The multiple grasping mode performs a combination of parallel grasp and indirectly self-adaptive enveloping grasp. The PISA-GBM hand consists of a middle-set motor, which can reduce the error of the transmission mechanism, a mechanism made of 2 timing pulleys and 3 gears, and a new mechanical structure of indirectly self-adaptive enveloping grasp, which apparently reduce the PISA-GBM hand's requirements of the motor power. The mathematical and physical simulations had been made to verify the effectiveness of the PISA-GBM hand. Grasping experiments of PISA-GBM hand has been made to test its wide adaptability. The result confirmed its extensive applications in the future.