Design and Analysis of a Parallel and Self-adaptive Finger with Pin-array Structure

For the inherent problem that the traditional robotic hand with a pin-array structure cannot grasp an object without a support surface. This paper proposes a solution that combines the pin-array CTSA-II gripper with the underactuated multi-fingered hand. This solution can solve the problem of pin-array gripper and enhance the crawling performance of underactuated multi-fingered hand. Based on this scheme and previous research work, this paper presents the design of the CTSA-PS finger in detail. The structure of CTSA-PS finger is simple and easy to assemble. This paper analyzes the grasping possibilities of the CTSA-PS finger, including the gripping force analysis of the CTSA-II gripper unit and the five-bar finger for parallel and self-adaptive grasping. The analysis results show that the CTSA-PS robot hand has better grasping performance than traditional five-bar multi-fingered hand.