小巧缆绳驱动机械臂夹爪，专为拆解旧电脑设计
DeGrip: A Compact Cable-driven Robotic Gripper for Desktop Disassembly
- 用缆绳传动实现紧凑结构，支持三维灵活操作
- 三自由度设计可在狭小空间拆解任意位置组件
- 适合废旧电子产品智能拆解场景，尤其适合桌面级应用
废旧电子产品智能拆解是机器人领域长期面临的挑战。尽管机器学习技术展现出潜力，但专用硬件的缺乏限制了其在真实场景中的应用。本文提出DeGrip，一种专为拆解废旧台式电脑设计的定制化夹爪。该夹爪具备三个自由度（DOF），可安装于机械臂上，在拆解环境中实现任意姿态配置。其采用缆绳驱动传动机构，有效缩小整体尺寸，适应狭小空间操作。腕部设计实现了腕关节与夹爪关节的独立驱动。同时，我们在Isaac Sim中构建了废旧台式电脑拆解环境，用于评估DeGrip性能。任务设计旨在验证其在受限空间内的操作能力及对任意配置组件的拆解能力。评估结果证实DeGrip具备完成废旧台式电脑拆解的能力。
原文摘要 · Abstract (English)
Intelligent robotic disassembly of end-of-life (EOL) products has been a long-standing challenge in robotics. While machine learning techniques have shown promise, the lack of specialized hardware limits their application in real-world scenarios. We introduce DeGrip, a customized gripper designed for the disassembly of EOL computer desktops. DeGrip provides three degrees of freedom (DOF), enabling arbitrary configurations within the disassembly environment when mounted on a robotic manipulator. It employs a cable-driven transmission mechanism that reduces its overall size and enables operation in confined spaces. The wrist is designed to decouple the actuation of wrist and jaw joints. We also developed an EOL desktop disassembly environment in Isaac Sim to evaluate the effectiveness of DeGrip. The tasks were designed to demonstrate its ability to operate in confined spaces and disassemble components in arbitrary configurations. The evaluation results confirm the capability of DeGrip for EOL desktop disassembly.
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