软质壳夹具让机器人拆解更稳定，不依赖高精度感知和控制。
Shell-Type Soft Jig for Holding Objects during Disassembly
- 用气囊驱动的软壳结构实现自适应抓持。
- 在10种物体上测试，多数成功且抗误差能力强。
- 适合缺乏精确定位的工业拆解场景，降低对硬件要求。
本研究针对机器人拆解中的柔性夹持问题，提出一种壳型软夹具，可安全、通用地固定各类物体，降低部件损伤风险，并适应多种形状。该夹具基于气囊驱动机制，实现精准对齐与稳定持握，显著减少对专用夹具设计、高精度感知、精确抓取及精细轨迹规划的依赖。实验对比了虎钳和仿塞满式软夹具，验证了其可行性；对十类不同物体的测试展示了代表性成功与失败案例，明确了其适用边界与未来方向。
原文摘要 · Abstract (English)
This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapting to diverse shapes while enabling soft fixation that is robust to recognition, planning, and control errors. The balloon-based holding mechanism ensures proper alignment and stable holding performance, thereby reducing the need for dedicated jig design, highly accurate perception, precise grasping, and finely tuned trajectory planning that are typically required with conventional fixtures. Our experimental results demonstrate the practical feasibility of the proposed jig through performance comparisons with a vise and a jamming-gripper-inspired soft jig. Tests on ten different objects further showed representative successes and failures, clarifying the jig's limitations and outlook.
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