Design of the special hand mechanism for auto-grabbing concave-convex object with special curved surface

This paper introduced a special hand mechanism which can automatically grab a concavo-convex object with smooth curved surface, and introduced the design of the self-adaptive positioning mechanism and sucking mechanism for grabbing concavo-convex objects with different curved surface, and introduced briefly the functional design of the contact-force control of the hand, posture-adjusting, mobile posture holding and anti-falling protection. In the meantime, it introduced the calculation method for sucking force and the design of pneumatic control unit. And it also put forward the functional design thinking of the special hand for grabbing concavo-convex objects with different smooth-curved surface, including auto-positioning, auto-grabbing, automatic posture adjusting and automatic anti-falling protection.