通过抗扭应变层提升软体夹爪抓握力，可稳抓超1公斤物体
Torsion Resistant Strain Limiting Layers Enable High Grip Strength of Electrically-Driven Handed Shearing Auxetic Grippers
- 引入抗扭应变层，抑制弯曲变形同时保持柔软性
- 实现5.8牛峰值夹持力，最大举重达5公斤
- 适合需要强抓握力的工业搬运场景
软体夹爪在抓取多种物体方面表现优异，但难以稳定抓握大重量物品。本文提出一种抗扭刚性应变限制层（TR-SLL），在保持夹爪柔软性和平面柔性的同时，有效抑制其面外弯曲。通过仿真与实验结合，系统研究了应变限制层与手性剪切辅助结构（HSA）的协同设计空间。采用TR-SLL的HSA夹爪可实现单指操作。实验表明，该设计可完成超过1公斤物体的夹持抓取，最大举重能力达5公斤；峰值夹持力达5.8牛，平面环绕抓力达14.5牛。在43个YCB物体测试中成功抓取37个，展现显著性能优势。
原文摘要 · Abstract (English)
Soft grippers have demonstrated a strong ability to successfully pick and manipulate many objects. A key limitation to their wider adoption is their inability to grasp larger payloads due to objects slipping out of grasps. We have overcome this limitation by introducing a torsionally rigid strain limiting layer (TR-SLL). This reduces out-of-plane bending while maintaining the gripper's softness and in-plane flexibility. We characterize the design space of the strain limiting layer and Handed Shearing Auxetic (HSA) actuators for a soft gripper using simulation and experiment. The inclusion of the TR-SLL with HSAs enables HSA grippers to be made with a single digit. We found that the use of our TR-SLL HSA gripper enabled pinch grasping of payloads over 1 kg. We demonstrate a lifting capacity of 5 kg when loading using the TR-SLL. We also demonstrate a peak pinch grasp force of 5.8 N, and a peak planar caging force of 14.5 N. Finally, we test the TR-SLL gripper on a suite of 43 YCB objects. We show success on 37 objects demonstrating significant capabilities.
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