This paper presents a novel underactuated adaptive robotic hand, Hockens-A Hand, which integrates the Hoeckens mechanism, a double-parallelogram linkage, and a specialized four-bar linkage to achieve three adaptive grasping modes: parallel pinching, asymmetric scooping, and enveloping grasping. Hockens-A Hand requires only a single linear actuator, leveraging passive mechanical intelligence to ensure adaptability and compliance in unstructured environments. Specifically, the vertical motion of the Hoeckens mechanism introduces compliance, the double-parallelogram linkage ensures line contact at the fingertip, and the four-bar amplification system enables natural transitions between different grasping modes. Additionally, the inclusion of a mesh-textured silicone phalanx further enhances the ability to envelop objects of various shapes and sizes. This study employs detailed kinematic analysis to optimize the push angle and design the linkage lengths for optimal performance. Simulations validated the design by analyzing the fingertip motion and ensuring smooth transitions between grasping modes. Furthermore, the grasping force was analyzed using power equations to enhance the understanding of the system's performance.Experimental validation using a 3D-printed prototype demonstrates the three grasping modes of the hand in various scenarios under environmental constraints, verifying its grasping stability and broad applicability.

翻译：本文提出了一种新型欠驱动自适应机器人手——霍肯斯-A手，该手集成了霍肯斯机构、双平行四边形连杆和专用四连杆机构，可实现三种自适应抓取模式：平行捏取、非对称舀取和包络抓取。霍肯斯-A手仅需单个线性驱动器，利用被动机械智能确保在非结构化环境中的适应性与柔顺性。具体而言，霍肯斯机构的垂直运动引入柔顺性，双平行四边形连杆确保指尖线接触，四连杆放大系统则实现不同抓取模式间的自然过渡。此外，通过加入网状纹理硅胶指节，进一步增强了包络不同形状尺寸物体的能力。本研究通过详细运动学分析优化推杆角度并设计连杆长度以实现最佳性能。仿真通过分析指尖运动并确保抓取模式间平滑过渡验证了设计。进一步地，利用功率方程分析抓取力以深化对系统性能的理解。使用3D打印原型进行的实验验证表明，该手在环境约束下的多种场景中均能实现三种抓取模式，证实了其抓取稳定性和广泛适用性。