This paper proposes a novel cluster-tube self-adaptive robot hand (CTSA Hand). The CTSA Hand consists of a base, a motor, a transmission mechanism, multiple elastic tendons, and a group of sliding-tube assemblies. Each sliding-tube assembly is composed of a sliding tube, a guide rod, two springs and a hinge. When the hand grasping an object, the object pushes some sliding tubes to different positions according to the surface shape of the object, the motor pulls the tendons tight to cluster tubes. The CTSA Hand can realize self-adaptive grasping of objects of different sizes and shapes. The CTSA Hand can grasp multiple objects simultaneously because the grasping of the hand acts as many grippers in different directions and heights. The grasping forces of the hand are adjusted by a closed-loop control system with potentiometer. Experimental results show that the CTSA Hand has the features of highly self-adaption and large grasping forces when grasping various objects.

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In order to improve the machining accuracy of machine tools, it is important to obtain the geometric profile information of the parts after clamping, in order to plan the machining path again. Line laser measurement has the advantages of non-contact and large single measurement area, so it has higher measurement efficiency than traditional contact measurement. However, due to the influence of measurement environment, laser measuring angle, tested workpiece surface quality and other factors, the measurement errors of each point on the laser measuring line are different, so it is important to compensate the error and set the working parameters of the in-situ laser sensor measurement system. In this study, the influence of the line laser measuring angle factors is researched. The physical model of the laser light path is deduced based on the laser triangulation principle. Then the measuring angle compensation model can be expressed quantitatively. At the same time, the algorithm to obtain the measurement angle based on free-form surface measurement results is used, as it is an important parameter of compensation model in practical application. On this basis, a set of line laser sensor in-situ measurement process is put forward. The influence of the working environment factors on the stability of line laser in-situ measurement data is explored through experiments, such as tested workpiece surface material and ambient light intensity. The process conforms to the actual engineering requirement and provides experience reference.

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