用气动夹爪从单边提起柔性物体，省力减震。
Dexterous Manipulation of Deformable Objects via Pneumatic Gripping: Lifting by One End
- 通过调整夹爪姿态精准控制抓取过程
- 降低所需抓取力并减少气流引起的振动
- 适合在只有一侧可抓的自动化线上使用
机器人操作柔性物体通常成本高且难以普及。局部气动夹持系统可提升可及性。现有气动夹爪在处理柔性物体时难以有效提升。本文提出一种基于先前设计的气动夹爪，实现从单边精确提起纺织类柔性物体的方法。通过在提升过程中精确调节夹爪的方位与位置，显著降低了所需抓握力，并减少了气流引发的物体振动。该方法在四种质量、摩擦力和柔韧性不同的材料上进行了测试与验证。所提方案可实现在传送带或自动线中，仅从一侧可接触的位置完成柔性物体的提起。未来工作将引入视觉系统，以优化对更复杂形状柔性物体的操作。
原文摘要 · Abstract (English)
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable objects struggle with effective lifting. This paper introduces a method for the dexterous lifting of textile deformable objects from one edge, utilizing a previously developed gripper designed for flexible and porous materials. By precisely adjusting the orientation and position of the gripper during the lifting process, we were able to significantly reduce necessary gripping force and minimize object vibration caused by airflow. This method was tested and validated on four materials with varying mass, friction, and flexibility. The proposed approach facilitates the lifting of deformable objects from a conveyor or automated line, even when only one edge is accessible for grasping. Future work will involve integrating a vision system to optimize the manipulation of deformable objects with more complex shapes.
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