用弹射回收绳索实现自适应抓取，轻松拿捏大件异形物品。
Lasso Gripper: A String Shooting-Retracting Mechanism for Shape-Adaptive Grasping
- 通过弹射与回收绳索形成可调环，适配不同大小物体
- 实测可稳定抓取牛马等大型玩偶及易碎蔬菜
- 采用四电机控制，避免绳索缠绕，适合机器人柔性操作
在运输和抓取大尺寸、形状不规则或易损物品时，传统夹爪因形状与尺寸限制而难以胜任。本文提出一种新型抓手Lasso Gripper，灵感来自套索和蒙古套马绳。该抓手通过发射并回收绳索来捕获物体，相比传统对称夹持方式，其压力沿绳索全长均匀分布，实现更温和的抓握。系统由四台电机驱动——两台用于向内发射绳索，两台用于向外发射，通过调节电机速度可动态调整绳圈大小，突破了最大开合距离的限制。为解决高速回收时绳索缠绕问题，设计了专用防缠机制。同时构建了绳索曲线动态模型，支撑工作空间运动学分析。实验中，安装于机械臂上的Lasso Gripper成功抓取并搬运了牛、马等大型玩偶以及易碎蔬菜。演示视频见：https://youtu.be/PV1J76mNP9Y。
原文摘要 · Abstract (English)
Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size. This paper proposes a novel gripper, Lasso Gripper. Inspired by traditional tools like the lasso and the uurga, Lasso Gripper captures objects by launching and retracting a string. Contrary to antipodal grippers, which concentrate force on a limited area, Lasso Gripper applies uniform pressure along the length of the string for a more gentle grasp. The gripper is controlled by four motors-two for launching the string inward and two for launching it outward. By adjusting motor speeds, the size of the string loop can be tuned to accommodate objects of varying sizes, eliminating the limitations imposed by the maximum gripper separation distance. To address the issue of string tangling during rapid retraction, a specialized mechanism was incorporated. Additionally, a dynamic model was developed to estimate the string's curve, providing a foundation for the kinematic analysis of the workspace. In grasping experiments, Lasso Gripper, mounted on a robotic arm, successfully captured and transported a range of objects, including bull and horse figures as well as delicate vegetables. The demonstration video is available here: https://youtu.be/PV1J76mNP9Y.
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