论文标题
肌腱驱动的机器人抓地力，具有被动切换不足的表面及其基于物理模拟的参数优化
A Tendon-driven Robot Gripper with Passively Switchable Underactuated Surface and its Physics Simulation Based Parameter Optimization
论文作者
论文摘要
在本文中，我们提出了一个单活体夹具，除了能力作为标准的平行抓手外，还可以提起位于平坦表面的薄物体。钥匙是指尖上的爬行者，该爬行者与其他手指关节一起用作不足，并用被动和弹簧的机构切换。虽然爬行手指的想法不是一个新的想法，但本文有助于意识到爬行而没有其他电动机。抓手可以被动地将模式从并行进近模式更改为引进模式，然后根据握把状态最终转换为功率抓紧模式。为了优化高度不足的系统，我们将黑盒优化和物理模拟组合在一起，对整个掌握过程进行了模拟。我们表明，这种基于仿真的方法可以有效地考虑前后运动，手中操纵，功率掌握稳定性甚至失效模式，这对于基于静态平衡 - 分析方法的方法很难。在本文的最后一部分中，我们证明了一个原型夹具，其在提议的过程中优化了提议的结构和设计参数，成功地盖上了一张薄纸，一本软纸书和一个位于平坦表面上的圆柱体。
In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with other finger joints and switched with a passive and spring-loaded mechanism. While the idea of crawling finger is not a new one, this paper contributes to realize the crawling without additional motor. The gripper can passively change the mode from the parallel approach mode to the pull-in mode, then finally to the power grasp mode, according to the grasping state. To optimize the highly underactuated system, we take a combination of black-box optimization and physics simulation of the whole grasp process. We show that this simulation-based approach can effectively consider the precontact motion, in-hand manipulation, power grasp stability, and even failure mode, which is difficult for the static-equilibrium-analysis-based approaches. In the last part of the paper, we demonstrate that a prototype gripper with the proposed structure and design parameters optimized under the proposed process successfully power-grasped a thin sheet, a softcover book, and a cylinder lying on a flat surface.
