The CPAM Hand: Coupling-Parallel-Adaption Merged Robot Hand

The traditional underactuated fingers do not integrate the three grasping modes of coupling, parallel pinching and self-adaption grasping. In order to solve this problem, this paper proposes coupling-parallel-adaption merged (CPAM) grasping mode. By realizing the switching of two states of coupling and parallel pinching, the coupling, parallel pinching and self-adaptive grasping modes are integrated into one finger. According to CAPM mode, this paper develops CP AM finger, which includes a power input device, a power transmission mechanism, a coupling transmission mechanism, a parallel-pinching transmission mechanism, a limiting mechanism and a switching device. The switching device is a gear plate mechanism, which can freely switch the coupling mode and parallel-pinching mode, and can keep the finger posture when switching. Theoretical analysis and experimental results show that CP AM fingers can grasp in a suitable mode according to the position, shape and size of the objects, and the grasping range is large.