新型自适应夹爪可实现精准线性夹持，提升工业机器人抓取灵活性。
Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping
- 采用差速联动与对称双指结构，实现同步直线运动和独立姿态调整。
- 相比弧线轨迹夹爪，垂直方向重新校准需求降低30%。
- 适合柔性物体与多样化工件，支持力/视觉传感器扩展，适用于智能产线。
本文提出SP-Diff并联夹爪系统，解决传统末端执行器在智能工业自动化中适应性不足的问题。该设计采用创新的差速联动机构与模块化对称双指结构，实现线性平行夹持。通过集成行星齿轮传动，系统可在保持结构刚性的同时，实现手指同步直线运动与独立姿态调节，相较于弧线轨迹夹爪，减少30%的Z轴重新校准需求。紧凑的掌部架构融合运动学优化的平行四边形连杆与差速机构，展现出对多样化工业工件及易变形物体（如柑橘类水果）的自适应抓取能力。系统预留未来接口，支持力觉/视觉传感器集成，便于在数字孪生框架下实现多模态数据采集（如轨迹规划与物体形变分析）。作为灵活制造解决方案，SP-Diff通过自适应结构推动机器人末端智能化，有望应用于协作机器人、物流自动化及特殊作业场景。
原文摘要 · Abstract (English)
This paper presents the SP-Diff parallel gripper system, addressing the limited adaptability of conventional end-effectors in intelligent industrial automation. The proposed design employs an innovative differential linkage mechanism with a modular symmetric dual-finger configuration to achieve linear-parallel grasping. By integrating a planetary gear transmission, the system enables synchronized linear motion and independent finger pose adjustment while maintaining structural rigidity, reducing Z-axis recalibration requirements by 30% compared to arc-trajectory grippers. The compact palm architecture incorporates a kinematically optimized parallelogram linkage and Differential mechanism, demonstrating adaptive grasping capabilities for diverse industrial workpieces and deformable objects such as citrus fruits. Future-ready interfaces are embedded for potential force/vision sensor integration to facilitate multimodal data acquisition (e.g., trajectory planning and object deformation) in digital twin frameworks. Designed as a flexible manufacturing solution, SP-Diff advances robotic end-effector intelligence through its adaptive architecture, showing promising applications in collaborative robotics, logistics automation, and specialized operational scenarios.
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