自适应机械手可牢握多种拆卸工具，提升机器人作业效率。
ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications
- 软掌主动堵塞+指尖鳍状结构，实现多场景自适应抓握。
- 7自由度设计使指尖可任意贴合表面，适配复杂操作。
- 实测兼容多种传统拆卸工具，适合自动化与人机协作场景。
在装配与拆卸过程中，机器人或人类在使用工具时抓握和持稳都面临挑战，尤其要求快速适应性。现有抓取技术在操作中稳定夹持工具仍存在显著局限。本文提出ARTiS（拆卸系统中的自适应机器人工具夹持器），结合软体夹持器的灵活性、仿人手的灵巧性以及刚性机构的稳定性，采用软掌与软指尖结构。通过掌心主动堵塞机制与指尖鳍状结构自适应，可在多种情况下稳固持握工具。其7个自由度设计使指尖能灵活调整姿态，贴合任意表面，适用于自动化与人机协作任务。通过一系列常规拆卸工具的综合评估，验证了该夹持器的顺应性、耐用性及功能多样性。
原文摘要 · Abstract (English)
Grasping and holding tools while using them presents a considerable challenge not only for robots but also for humans. Such a challenge is particularly noticeable in processes involving assembly and disassembly, where efficiency and consistency depend on performing rapidly adaptive tasks. Nonetheless, contemporary robotic grasping technologies that can securely manipulate tools during operation frequently have significant constraints. In this paper, introduce ARTiS (Adaptive Robotic Tool Gripper in Disassembly Systems), a novel gripper that combines the adaptability of soft grippers, the dexterity of anthropomorphic hands, and the robustness of rigid mechanisms with a soft palm and fingertips. This unique combination makes it possible to hold tools securely in a variety of situations through using active jamming in the palm and fin-ray adaptation in fingertips. Furthermore, high finger dexterity is achieved through the seven degrees of freedom design, which enables the fingertips to orient to any surface, both for automated solutions and collaborative tasks. A comprehensive evaluation was conducted using a range of conventional disassembly tools to assess the gripper's compliance, durability, and functional versatility. More information, hardware instructions, and videos at https://romanmykhailyshyn.github.io/artis/
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