LAUSR

This paper proposes a soft robot hand with pin-array structure and self-adaptive function, CTSA-II hand, where CTSA is the Cluster tube self-adaption. The CTSA-II hand is designed with a quite concise structure and consists of bases, a pin array, a spring array, and a membrane. When the CTSA-II hand grasps an object, the pins will slide along the trajectory to conform to the profile of the object under the reaction force applied by the object, and thus the outer membrane will form a specific shape, and then the vacuum drives the CTSA-II hand to grasp the object. Theoretical analysis shows that the CTSA-II hand can generate enough grasping force and get good stability. Moreover, the optimization of its structure is achieved by studying the effects of specific parameters. The capture experimental results of the prototype show that the CTSA-II hand can realize self-adaptive grasping of different sizes and shapes with a high degree of fit and a high success rate. A series of research experiments show the influence of various factors on the grasping force, which verifies the results of the theoretical analysis with the CTSA-II hand. Compared to the traditional robot hand, the CTSA-II hand has good crawl performance, concise structure, small volume, and easy assembly.