无需主动控制的自适应抓取装置，可稳抓任意形状刚性物体。
A passive universal grasping mechanism based on an everting shell
- 利用双稳态弹性壳体翻转实现被动抓取，结构一体无活动部件。
- 可抓取最大尺寸与重量由臂部刚度和长度决定，能自适应不同形状。
- 适合需要轻柔、无动力抓取的场景，如柔性机器人或精密操作。
提出一种基于弹性双稳态壳体翻转的被动一体化柔顺抓取机构。该机构由梁段构成的抓取臂与可翻转的壳体协同工作，接触物体后壳体发生翻转，带动抓臂环绕物体形成封闭结构，从而稳定抓握任意形状的刚性物体，直至再次主动触发使壳体恢复原状以释放物体。抓臂刚度决定承载能力，臂长决定可抓取最大物体尺寸。由于臂部具有分布式柔顺性，可在不施加过大压力的情况下贴合物体表面。
原文摘要 · Abstract (English)
A passive monolithic compliant grasping mechanism that works based on the eversion of an elastically deformable bistable shell is conceptualized. It comprises grasping arms made of beam segments that work in conjunction with the everting shell. The grasper is capable of picking up a stiff object of any shape up to a maximum size and weight. The bistable shell everts upon contact with the object to enable the grasping arms envelop the object forming an enclosure. The mechanism then stays in that configuration until it is actuated again to turn the shell back to its original configuration and thereby opening the enclosure to release the object. The stiffness of the arms decides the payload of the mechanism. The size of the arms decides the largest object that can be grasped and held. The arms have distributed compliance so that they can conform to the shape of the object without applying undue force on it.
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