Abstract
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making widespread applications limited. To better relieve relevant research gaps, we present a novel 3-finger linkage-based gripper that realizes retractable and reconfigurable multi-mode grasps driven by a single motor. Firstly, inspired by the changes that occurred in the contact surface with a human finger moving, we artfully design a slider-slide rail mechanism as the phalanx to achieve retraction of each finger, allowing for better performance in the enveloping grasping mode. Secondly, a reconfigurable structure is constructed to broaden the grasping range of objects' dimensions for the proposed gripper. By adjusting the configuration and gesture of each finger, the gripper can achieve five grasping modes. Thirdly, the proposed gripper is just actuated by a single motor, yet it can be capable of grasping and reconfiguring simultaneously. Finally, various experiments on grasps of slender, thin, and large-volume objects are implemented to evaluate the performance of the proposed gripper in practical scenarios, which demonstrates the excellent grasping capabilities of the gripper.
Abstract (translated)
作为机器人普及工具的不到位机器人抓爪已经成为了一个重要的研究焦点。尽管它们的机械设计和控制策略非常简单，但它们存在缺乏多功能性和适应性，这使得它们的广泛应用受限。为了更好地缓解相关研究空白，我们提出了一个新颖的3指连杆式抓爪，该抓爪由一个驱动器驱动，具有可缩回和可重构的多模式抓握。首先，我们灵感来自于人类手指移动时接触表面发生的改变，设计了一个滑块连杆机构作为腕部，实现每个手指的收缩，使得在包裹握持模式下表现更好。其次，为了扩大所提出的抓爪对物体尺寸的抓握范围，我们设计了一个可重构的结构。通过调整每个手指的配置和动作，抓爪可以实现五种抓握模式。第三，所提出的抓爪仅由一个驱动器驱动，但同时可以实现抓握和重构。最后，我们进行了各种实验，研究了薄壁、细长和大型体积物体的抓握性能，以评估所提出的抓爪在实际场景下的表现，这表明了抓爪的抓握能力非常出色。
URL
https://arxiv.org/abs/2403.12502
