A Soft Enveloping Gripper with Enhanced Grasping Ability via Morphological Adaptability
A Soft Enveloping Gripper with Enhanced Grasping Ability via Morphological Adaptability
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DOI：
10.1002/aisy.202200456
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发表时间：
2023-03-22
影响因子：
7.4
通讯作者：
Sun, Fuchun
中科院分区：
文献类型：
--
作者：
Hao, Yufei;Wang, Zhongkui;Sun, Fuchun
目前，使用机器人夹具的自动抓取需要基于物体的尺寸、几何形状、刚度和姿态来调整手指的姿态和力。为了提供一种简单而有效的抓取方法，提出了一种软包络夹持器，并通过与指状夹持器的性能比较，研究了其形态适应性如何提高抓取能力。结果表明，该包络式手爪能够通过主被动交互实现对物体的全方位包络，能够100%抓取范围内不同位置的物体并保持其姿态不变。然而，指状抓取器的抓取成功率和定位误差高度依赖于物体与抓取器的相对位置和角度，以及手指的数量。的动态振动和衰减时间的包络抓持器抓持一个500克的重量时，都是，大约六分之一的双指抓持器抓持一个12.37克立方体。该包络式抓取器无需姿态估计和力控制，采用简单的基于视觉的自动抓取方法，能够自动抓取不同姿态的物体（包括可变形物体）。包络抓取方法可能为简单、低成本但功能强大的自动抓取应用开辟一条途径。
Hitherto, automated grasping with robotic grippers requires adjusting the posture and force of the fingers based on the size, geometry, stiffness, and pose of the objects. To provide a simpler but efficient grasping methodology, a soft enveloping gripper is presented and investigated how its morphological adaptability improves the grasping ability by comparing its performance with fingered grippers. Results show that this enveloping gripper can omnidirectionally envelop objects via active-passive interaction, which allows the gripper to 100% grasp the object located at different positions within range and keep their orientations. However, the grasping success rate and orientation error of the fingered grippers highly depend on the relative position and angle of the objects to the grippers, as well as the number of fingers. The dynamic vibration and decay time of the enveloping gripper when grasping a 500 g weight are, both, approximately one-sixth of those of the two-fingered gripper when grasping a 12.37 g cube. This enveloping gripper can automatically grasp objects (including deformable ones) lying in different poses without posture estimation and force control with a simple vision-based automatic grasping method. The enveloping grasping method may open an avenue for simple, low cost yet powerful automatic grasping applications.