一款可自适应抓握的低成本机械手，能实现直线平行夹持与遇阻自动包裹。
Hoecken-D Hand: A Novel Robotic Hand for Linear Parallel Pinching and Self-Adaptive Grasping
- 用改进的霍肯连杆+差速弹簧，实现无需额外电机的自适应转换。
- 200毫米线性夹持范围，单个线性驱动器控制，结构简洁成本低。
- 适合非结构化环境中的柔性抓取，尤其擅长薄或不规则物体。
本文提出一种名为Hoecken-D Hand的欠驱动机器人夹爪，通过改进霍肯连杆并引入差速弹簧机构，实现了线性平行夹持与中段行程自适应包裹的双重功能。原霍肯连杆通过替换一个构件为差速连杆，在保持指尖直线导向的同时，实现遇障碍触发的无额外驱动重构。双平行四边形结构保证常规夹持时指尖平行，而差速机制使一指在触碰障碍物后向内包裹，提升对不规则或细长物体的抓持稳定性。该机构仅需单一直线驱动器即可运作；原型中每指独立配置线性驱动以简化设计。通过运动学建模与力分析，量化了不同几何参数下的抓握力与弹簧回弹行为。采用基于PLA的3D打印制作原型，实现约200毫米的线性夹持跨度。初步测试表明其在多种物体形状下均能可靠运行，展现出紧凑、灵活且低成本的优势，适用于非结构化环境中的操作任务。
原文摘要 · Abstract (English)
This paper presents the Hoecken-D Hand, an underactuated robotic gripper that combines a modified Hoecken linkage with a differential spring mechanism to achieve both linear parallel pinching and a mid-stroke transition to adaptive envelope. The original Hoecken linkage is reconfigured by replacing one member with differential links, preserving straight-line guidance while enabling contact-triggered reconfiguration without additional actuators. A double-parallelogram arrangement maintains fingertip parallelism during conventional pinching, whereas the differential mechanism allows one finger to wrap inward upon encountering an obstacle, improving stability on irregular or thin objects. The mechanism can be driven by a single linear actuator, minimizing complexity and cost; in our prototype, each finger is driven by its own linear actuator for simplicity. We perform kinematic modeling and force analysis to characterize grasp performance, including simulated grasping forces and spring-opening behavior under varying geometric parameters. The design was prototyped using PLA-based 3D printing, achieving a linear pinching span of approximately 200 mm. Preliminary tests demonstrate reliable grasping in both modes across a wide range of object geometries, highlighting the Hoecken-D Hand as a compact, adaptable, and cost-effective solution for manipulation in unstructured environments.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。