A Novel Underactuated Robot Finger with a Limit of Electromagnet Braking for Parallel Pinching, Coupling and Self-adaptive Grasps

This paper proposes a novel underactuated robot finger with a limit of electromagnet brake, which integrates three grasping modes, parallel pinching, coupling, and self-adaptive grasping. This finger is named LEMB finger. In the LEMB finger with two joints, a motor with reducer, a differential transmission mechanism, gear transmission mechanisms, an electromagnet, a touch switch, a movable limit is designed. The status of the electromagnet can be switched in different modes of the parallel pinching and coupled grasping. The self-adaptive grasping will be effective due to springs and the electromagnet brake. There are three sets of gear chains for power transmission, springs ensures non-conflict in their motion. Analysis results show that the finger has good adaptability and grasping ability. Due to multiple grasping modes, the finger can adapt to objects of different shapes and sizes. The finger has a wider range of applications.