新型自闭吸盘夹爪可自适应抓取大小差异大的工业零件
Self-Closing Suction Grippers for Industrial Grasping via Form-Flexible Design
- 采用混合堵塞与吸力机制实现形状自适应变形
- 可抓取最小达开口尺寸54.5%的物体，负载质量比达94.3
- 适合柔性抓取场景，如易碎品或异形件搬运
形态可变机器人在工业抓取中展现出优势。本文提出一种基于形式灵活性设计的自闭式吸盘夹爪，结合混合堵塞与吸力机制，能主动适应孔径显著变化的物体，包括尺寸大于和小于孔径的部件。相比传统夹爪，该夹爪具备自闭能力，可形成气密密封。在真空条件下，通过界面处被动形变机制协调压力与流量，实现广泛抓取范围。实验表明，该夹爪可稳定抓取最小为孔径54.5%的鸡蛋，并达到最大负载-质量比94.3。
原文摘要 · Abstract (English)
Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary significantly in size from the aperture, including both larger and smaller parts. Compared with traditional grippers, the gripper achieves self-closing to form an airtight seal. Under a vacuum, a wide range of grasping is realized through the passive morphing mechanism at the interface that harmonizes pressure and flow rate. This hybrid gripper showcases the capability to securely grasp an egg, as small as 54.5% of its aperture, while achieving a maximum load-to-mass ratio of 94.3.
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。