软硬结合的夹爪可高效抓取纸张等柔性薄物
Hybrid Gripper with Passive Pneumatic Soft Joints for Grasping Deformable Thin Objects
- 用气动软环包裹刚性转轴，实现柔韧两指协同
- 抓取纸张时效率提升，夹持距离减少八倍
- 适合抓取布料、纸张等易变形薄片物体
抓取各类物体仍是多功能机器人系统发展的关键挑战。人类手部极为灵巧，能抓握和操控形状、力学特性及纹理各异的物体。受人用两指拾起布料或纸张等薄大物体方式启发，本文设计一种专用于抓取此类可变形物体的混合夹爪。观察到人手柔软灵活的指端关节在接近和抓取薄材料时的表现，提出融合软硬部件的夹爪结构：通过在刚性旋转关节外包裹气动软环，构建出柔性双指夹爪。实验验证了该夹爪在抓取纸张及其他物体时的性能。相比刚性夹爪，该设计显著提升抓取效率，夹持距离最多缩短八倍。
原文摘要 · Abstract (English)
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and textures. Inspired by how humans use two fingers to pick up thin and large objects such as fabric or sheets of paper, we aim to develop a gripper optimized for grasping such deformable objects. Observing how the soft and flexible fingertip joints of the hand approach and grasp thin materials, a hybrid gripper design that incorporates both soft and rigid components was proposed. The gripper utilizes a soft pneumatic ring wrapped around a rigid revolute joint to create a flexible two-fingered gripper. Experiments were conducted to characterize and evaluate the gripper performance in handling sheets of paper and other objects. Compared to rigid grippers, the proposed design improves grasping efficiency and reduces the gripping distance by up to eightfold.
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