软性夹具利用颗粒阻塞原理，自适应抓取不同形状零件。
Soft Regrasping Tool Inspired by Jamming Gripper
- 用气压控制柔性膜变形，形成可调凹腔固定零件。
- 十种零件中多数放置成功率超80%，圆柱形达90%以上。
- 适合需要高精度重复定位的自动化装配场景。
在工装上重抓取是降低机器人装配中位姿不确定性的有效方法，但传统刚性工装缺乏适应性，需为每种零件定制设计。为此，我们提出一种受颗粒阻塞现象启发的软性工装，可连续变形以适配多种物体几何形状。通过将三角金字塔形工具压入膜材并抽真空，形成稳定的放置凹腔。进一步优化了压印深度，在放置稳定性与夹持器可达性间取得平衡。在软工装重抓取中，关键挑战在于优化凹腔尺寸以实现精确落料；一旦零件可靠放置，后续抓取即可显著降低不确定性。我们对十种不同形状的机械零件进行了落料实验，大多数零件放置成功率达80%以上，圆柱形零件超过90%，失败主要由几何约束和膜材特性导致。结果表明，该工装实现了通用、精准、可重复的重抓取，同时明确了其当前局限与作为刚性工装实用替代品的前景。
原文摘要 · Abstract (English)
Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for each part. To overcome this limitation, we propose a soft jig inspired by the jamming transition phenomenon, which can be continuously deformed to accommodate diverse object geometries. By pressing a triangular-pyramid-shaped tool into the membrane and evacuating the enclosed air, a stable cavity is formed as a placement space. We further optimize the stamping depth to balance placement stability and gripper accessibility. In soft-jig-based regrasping, the key challenge lies in optimizing the cavity size to achieve precise dropping; once the part is reliably placed, subsequent grasping can be performed with reduced uncertainty. Accordingly, we conducted drop experiments on ten mechanical parts of varying shapes, which achieved placement success rates exceeding 80% for most objects and above 90% for cylindrical ones, while failures were mainly caused by geometric constraints and membrane properties. These results demonstrate that the proposed jig enables general-purpose, accurate, and repeatable regrasping, while also clarifying its current limitations and future potential as a practical alternative to rigid fixtures in assembly automation.
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