论文标题
传感器集成自适应抓手的设计
Design of a sensor integrated adaptive gripper
论文作者
论文摘要
在本文中，介绍了传感器集成自适应夹的设计和开发。自适应握把对于通过将手指包裹在物体上来抓住各种几何形状的物体很有用。自适应握把中的手指闭合序列可能会导致物体从抓地力中弹出，这是由于任何不平衡的抓握力而导致的，并且这种掌握失败对于轻量级物体很常见。设计的抓手的设计集中在确保对各种物体上的稳定掌握，尤其是用于轻质物体（例如，空塑料瓶）。驱动机制基于可移动的皮带轮和肌腱线，该电线确保一旦链接停止移动，其他链接就会继续移动并包裹在物体周围。此外，优化用于改善自适应抓手的设计。最后，通过在模拟环境pybullet中执行对象来完成验证，以简单选择并将任务放在常见的家用对象上。
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in adaptive grippers may lead to ejection of the object from the gripper due to any unbalanced grasping force and such grasp failure is common for lightweight objects. Designing of the proposed gripper is focused on ensuring stable grasp on a wide variety of objects, especially, for lightweight objects (e.g., empty plastic bottles). The actuation mechanism is based on movable pulleys and tendon wires which ensure that once a link stops moving, the other links continue to move and wrap around the object. Further, optimisation is used to improve the design of the adaptive gripper. Finally, validation is done by executing object grasping in a simulated environment PyBullet for simple pick and place tasks on common household objects.
