A pick-and-place hand mechanism without any actuators and sensors

This paper gives a novel pick-and-place hand mechanism without any actuators and sensors. Any payload does not effect to the internal mechanism at all. First we discuss the design guideline and a working principle. Second, we realize and apply the mechanism by combining a mechanical finite four states system and our previously developed passive closure gripper. Third, we analyze and clarify some properties of the hand. Furthermore, we confirm the validity of the developed hand by manipulation experiments.