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Author

Wen-Zeng Zhang

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Conference Aug 2026

An Underactuated Gripper with Pulley-Link Mechanisms for Pinching and Lifting in Environmental Constraints

This paper presents an underactuated gripper (PLP Gripper) capable of achieving stable pinching operations under various environmental constraints. The fingertip of the gripper can adapt to unstructured environments and realize a gripping-lifting effect on lightweight objects. The mechanical gripper consists of two fin...

Zhi-Ting Deng, Yan-Li Zhu, Wen-Zeng Zhang · 0 citations
Conference Aug 2026

X-Claw: An Underactuated Gripper Based on Slotted Eight-Linkage Mechanism for Pinching and Scooping with Environmental Adaptability

Conventional rigid grippers struggle to reliably grasp thin, low-stiffness objects such as cards, coins, and metal sheets due to their inability to adapt to object geometry. Active soft grippers offer adaptability but introduce complexity, cost, and control latency. Existing passive adaptive mechanisms attempt to addre...

Yan-Li Zhu, Zhi-Ting Deng, Wen-Zeng Zhang · 0 citations
Conference Aug 2026

HPA Gripper: An Underactuated Gripper for Parallel Pinching and Adaptive Enveloping

This paper presents the Hart-based Parallelpinching Adaptive gripper, termed the HPA gripper, a compact underactuated gripper intended for robotic grasping tasks that require both controlled fingertip motion and passive adaptation to object geometry. Existing underactuated grippers provide simple and robust grasping so...

Chun-Yu Guo, Wen-Zeng Zhang · 0 citations

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