新型三指夹爪用螺旋结构实现高灵巧抓取，省力且可自适应物体形状。
Dexterous Three-Finger Gripper based on Offset Trimmed Helicoids (OTHs)
- 采用偏置修剪螺旋结构，可调变形中心模拟人手灵活性。
- 15毫秒内完成约60度高速旋转，抓握硬质材料更省力。
- 六自由度高灵巧性，适合精细操作如旋转杆状物。
本研究提出一种新型偏置修剪螺旋（OTH）结构，其可调变形中心能有效模拟人手指的柔韧性，显著降低对较硬材料（如热塑性聚氨酯TPU）进行大弹性变形所需的驱动力。手指内部集成两条螺旋路径的缆绳，实现平面内弯曲与平面外横向运动，大幅扩展工作空间，并支持沿长度方向变化曲率。合规性分析表明，通过调整手指安装位置，可精确调节指尖柔顺度，提升对多种物体的适应能力。利用TPU强大的弹性储能能力，该夹爪可在15毫秒内实现约60度的高速动态旋转。具备六自由度高灵巧性的三指夹爪已成功完成复杂任务，例如在握持状态下熟练旋转杆状物体。
原文摘要 · Abstract (English)
This study presents an innovative offset-trimmed helicoids (OTH) structure, featuring a tunable deformation center that emulates the flexibility of human fingers. This design significantly reduces the actuation force needed for larger elastic deformations, particularly when dealing with harder materials like thermoplastic polyurethane (TPU). The incorporation of two helically routed tendons within the finger enables both in-plane bending and lateral out-of-plane transitions, effectively expanding its workspace and allowing for variable curvature along its length. Compliance analysis indicates that the compliance at the fingertip can be fine-tuned by adjusting the mounting placement of the fingers. This customization enhances the gripper's adaptability to a diverse range of objects. By leveraging TPU's substantial elastic energy storage capacity, the gripper is capable of dynamically rotating objects at high speeds, achieving approximately 60 in just 15 milliseconds. The three-finger gripper, with its high dexterity across six degrees of freedom, has demonstrated the capability to successfully perform intricate tasks. One such example is the adept spinning of a rod within the gripper's grasp.
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