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This paper proposes a novel robotic hand design for assembly tasks. The ideais to combine two simple grippers -- an inner gripper which is used for precisealignment, and an outer gripper which is used for stable holding. Conventionalrobotic hands require complicated compliant mechanisms or complicated controlstrategy and force sensing to conduct assemble tasks, which makes them costlyand difficult to pick and arrange small objects like screws or washers.Compared to the conventional hands, the proposed design provides a low-costsolution for aligning, picking up, and arranging various objects by takingadvantages of the geometric constraints of the positioning fingers and gravity.It is able to deal with small screws and washers, and eliminate the positionerrors of cylindrical objects or objects with cylindrical holes. In theexperiments, both real-world tasks and quantitative analysis are performed tovalidate the aligning, picking, and arrangements abilities of the design.

A Hand Combining Two Simple Grippers to Pick up and Arrange Objects for Assembly