用少数量线性执行器驱动软表面，低成本实现异形易碎物操作
Soft Manipulation Surface With Reduced Actuator Density For Heterogeneous Object Manipulation
- 通过垂直排列的线性执行器连接软表面，协同控制实现物体操控
- 仅需少量执行器即可覆盖大操作区域，对小尺寸物体仍有效
- 适合食品工业中易碎、形状不一物品的操作，降低复杂度与成本
机器人抓取面临物体形状、大小和脆弱性差异带来的挑战。夹爪式方法精度高且自由度低，但适用对象受限；基于表面的方法能灵活处理易碎和异质物体，但需大量执行器，导致系统复杂。本文提出一种新型操作硬件：将等间距的线性执行器垂直布置，并通过软表面连接。物体在软表面上通过周围执行器的协同运动实现操控。该方法仅需较少执行器即可覆盖大面积操作区域，相比密集执行器阵列具有更低自由度和更低成本。同时能有效处理不同形状和重量的异质物体，即使物体远小于执行器间距也能成功操控。该方法特别适用于食品行业中对高度易碎物体的处理。
原文摘要 · Abstract (English)
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other hand, surface-based approaches provide flexibility for handling fragile and heterogeneous objects but require numerous actuators, increasing complexity. We propose new manipulation hardware that utilizes equally spaced linear actuators placed vertically and connected by a soft surface. In this setup, object manipulation occurs on the soft surface through coordinated movements of the surrounding actuators. This approach requires fewer actuators to cover a large manipulation area, offering a cost-effective solution with a lower DOF compared to dense actuator arrays. It also effectively handles heterogeneous objects of varying shapes and weights, even when they are significantly smaller than the distance between actuators. This method is particularly suitable for managing highly fragile objects in the food industry.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。