用振动让夹子翻转薄物体，实现位置与朝向全控制
Vibration-based Full State In-Hand Manipulation of Thin Objects
- 通过周期性振动使物体绕抓点旋转，实现姿态控制
- 采用占空比调制提升操控精度，实验验证有效
- 适合低成本机器人抓取薄片类物体的复杂操作
机械手具备强大操控能力，但复杂且昂贵，限制了实际应用。相比之下，简单的平行夹爪成本低，但仅能完成拾取放置等基础任务。近期有研究提出基于振动的机制，通过粘滑现象增强平行夹爪，使其可对薄物体进行机内操控。然而，由于该机构为欠驱动结构，无法直接控制物体朝向。本文解决物体完整状态操控问题，提出激发一种周期性现象：物体质心以抓点为圆心做恒定半径旋转。基于此周期运动，设计算法实现物体至目标状态的操控。除完整的解析分析外，还提出使用占空比调制控制振动执行器，提高操控精度。有限元分析、实验及任务演示验证了所提算法的有效性。
原文摘要 · Abstract (English)
Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though affordable, are restricted to basic tasks like pick-and-place. Recently, a vibration-based mechanism was proposed to augment parallel grippers and enable in-hand manipulation capabilities for thin objects. By utilizing the stick-slip phenomenon, a simple controller was able to drive a grasped object to a desired position. However, due to the underactuated nature of the mechanism, direct control of the object's orientation was not possible. In this letter, we address the challenge of manipulating the entire state of the object. Hence, we present the excitation of a cyclic phenomenon where the object's center-of-mass rotates in a constant radius about the grasping point. With this cyclic motion, we propose an algorithm for manipulating the object to desired states. In addition to a full analytical analysis of the cyclic phenomenon, we propose the use of duty cycle modulation in operating the vibration actuator to provide more accurate manipulation. Finite element analysis, experiments and task demonstrations validate the proposed algorithm.
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