新型机械手实现直线夹持与自适应抓取，无需调整高度。
A Novel Gripper with Semi-Peaucellier Linkage and Idle-Stroke Mechanism for Linear Pinching and Self-Adaptive Grasping
- 采用半佩奥塞勒连杆与空行程机构，实现指尖直线运动。
- 实验验证可稳定抓取不同尺寸物体，适应性强。
- 适合需要桌面操作的机器人抓取任务，提升智能体交互能力。
本文提出一种新型机器人夹爪——SPD夹爪，具有手掌和两个对称布置、机械结构相同的夹指，可独立或单电机驱动。夹指指尖遵循直线运动轨迹，可在不改变夹爪整体高度的情况下抓取桌面上不同尺寸的物体。传统平行夹爪的指尖呈弧线运动，需调节机械臂高度以避免碰撞桌面。SPD夹爪通过线性平行夹持机制有效解决该问题。此外，该夹爪具备自适应能力，可适应不同形状与尺寸的物体。本文阐述了SPD夹爪的设计理念、基本构成原理及优化分析理论，并基于此开发出原型机进行测试。实验结果表明，该夹爪成功实现了线性平行夹持功能，且表现出良好的适应性。在具身智能技术持续发展的背景下，该夹爪可助力各类机器人实现高效抓取，为深度学习训练数据采集奠定基础。
原文摘要 · Abstract (English)
This paper introduces a novel robotic gripper, named as the SPD gripper. It features a palm and two mechanically identical and symmetrically arranged fingers, which can be driven independently or by a single motor. The fingertips of the fingers follow a linear motion trajectory, facilitating the grasping of objects of various sizes on a tabletop without the need to adjust the overall height of the gripper. Traditional industrial grippers with parallel gripping capabilities often exhibit an arcuate motion at the fingertips, requiring the entire robotic arm to adjust its height to avoid collisions with the tabletop. The SPD gripper, with its linear parallel gripping mechanism, effectively addresses this issue. Furthermore, the SPD gripper possesses adaptive capabilities, accommodating objects of different shapes and sizes. This paper presents the design philosophy, fundamental composition principles, and optimization analysis theory of the SPD gripper. Based on the design theory, a robotic gripper prototype was developed and tested. The experimental results demonstrate that the robotic gripper successfully achieves linear parallel gripping functionality and exhibits good adaptability. In the context of the ongoing development of embodied intelligence technologies, this robotic gripper can assist various robots in achieving effective grasping, laying a solid foundation for collecting data to enhance deep learning training.
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