利用具有弹性不稳定性的仿生柔性夹爪快速抓取织物
Rapid grasping of fabric using bionic soft grippers with elastic instability
AI总结：
提出一种受人指启发、利用弹性不稳定性的弹扣式柔性夹爪，以预应力半刚性骨架实现86°大跨度和46 ms快速闭合，并通过理论、仿真与实验验证其多物体适应性。
摘要：
机器人抓取存在一种固有权衡：跨度大的夹爪通常需要更长时间闭合，而快速夹爪往往只能覆盖较小跨度。然而，柔性夹爪的许多实际应用都要求具备快速闭合大距离的能力。例如，抓取布料通常需要将大跨度的织物压入可抓取的尖点中。在此，我们展示了一种受人手指启发的弹扣式夹爪，它利用弹性不稳定性在大跨度上实现可逆的快速闭合。该夹爪手指采用预应力半刚性材料作为骨架，能够大幅张开（86°），并以类似拇指与食指捏合的轨迹快速闭合（46 ms）；在跨度和速度方面分别比参考夹爪提升2.7倍和10.9倍。我们从理论上给出了设计原理，通过仿真验证了该方法，并实验测试了该夹爪对多种刚性、柔性和柔软物体的抓取，取得了良好的适应性和力学性能。本研究有助于弥合强负载工业操作器与安全人机交互机器人手之间的差距。
英文摘要：
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to close a large distance rapidly. For example, grasping cloth typically requires pressing a wide span of fabric into a graspable cusp. Here, we demonstrate a human-finger-inspired snapping gripper that exploits elastic instability to achieve reversible rapid closure over a wide span. Using prestressed semi-rigid material as the skeleton, the gripper fingers can widely open (86 ~) and rapidly close (46 ms) following a trajectory similar to that of a thumb-index finger pinching which is 2.7 times and 10.9 times better than the reference gripper in terms of span and speed, respectively. We theoretically give the design principle, simulatively verify the method, and experimentally test this gripper on a variety of rigid, flexible, and limp objects and achieve good adaptivity and mechanical performance. This research helps bridge the gap between strong industry manipulators and safe human-interactive robotic hands.
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