摘要 : This paper introduces a novel underactuated hand, the PASA-GB hand, which has a hybrid grasping mode. The hybrid grasping mode is a combination of parallel pinching (PA) grasp and self-adaptive enveloping (SA) grasp. In order to e... 展开 This paper introduces a novel underactuated hand, the PASA-GB hand, which has a hybrid grasping mode. The hybrid grasping mode is a combination of parallel pinching (PA) grasp and self-adaptive enveloping (SA) grasp. In order to estimate the performance of grasping objects, the potential energy method is used to analyze the grasping poses and stabilities of the PASA-GB hand. The calculation of force distribution shows the influence of the size and position of objects and provides a method to optimize the force distribution. The switch condition between pinching and enveloping grasp is analyzed in detail. Experimental results verify wide adaptability and high practicability of the PASA-GB hand. 收起