无需电机即可自动切换抓取方式，适合狭小空间操作。
SPARK Hand: Scooping-Pinching Adaptive Robotic Hand with Kempe Mechanism for Vertical Passive Grasp in Environmental Constraints
- 用凯姆佩连杆结构实现指尖垂直运动，不依赖主动驱动。
- 可自动在捏握和舀取模式间切换，适应不同形状物体。
- 特别擅长抓取薄而平的物体，适合复杂环境使用。
本文提出SPARK手指，一种能执行平行捏握与舀取抓握的被动自适应机器人手指。该设计采用多连杆机构结合凯姆佩连杆，实现指尖垂直线性运动；并引入平行四边形连杆，使指尖相对于基座保持固定姿态，提升操作精度与稳定性。通过集成弹性元件，系统可有效与桌面等表面互动，应对复杂环境中的抓取挑战。其被动切换机制可在无额外驱动的情况下，自动在捏握与舀取模式间无缝转换，适应不同物体形状与环境约束。基于两个SPARK手指构建的SPARK Hand系统，在抓取多种尺寸与形状物体时表现出更强性能与稳定性，尤其对传统夹具难以处理的薄而平物体表现优异。实验验证了该设计在受限及动态环境下的有效性，展现出在机器人操作中的应用潜力。
原文摘要 · Abstract (English)
This paper presents the SPARK finger, an innovative passive adaptive robotic finger capable of executing both parallel pinching and scooping grasps. The SPARK finger incorporates a multi-link mechanism with Kempe linkages to achieve a vertical linear fingertip trajectory. Furthermore, a parallelogram linkage ensures the fingertip maintains a fixed orientation relative to the base, facilitating precise and stable manipulation. By integrating these mechanisms with elastic elements, the design enables effective interaction with surfaces, such as tabletops, to handle challenging objects. The finger employs a passive switching mechanism that facilitates seamless transitions between pinching and scooping modes, adapting automatically to various object shapes and environmental constraints without additional actuators. To demonstrate its versatility, the SPARK Hand, equipped with two SPARK fingers, has been developed. This system exhibits enhanced grasping performance and stability for objects of diverse sizes and shapes, particularly thin and flat objects that are traditionally challenging for conventional grippers. Experimental results validate the effectiveness of the SPARK design, highlighting its potential for robotic manipulation in constrained and dynamic environments.
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。