分形手-II：复兴经典机构以应对当代抓取挑战
The Fractal Hand-II: Reviving a Classic Mechanism for Contemporary Grasping Challenges
AI总结：
本文提出受百年分形虎钳启发的分形机器人夹爪，仅用一个驱动器即可被动适应多样物体，并给出低成本、大工作空间的分形手指设计方法，以应对当代抓取挑战。
摘要：
本文及其姊妹篇提出了一种新型分形机器人夹爪，其灵感源自具有百年历史的“分形虎钳”。其独特的协同特性使其仅使用一个驱动器即可被动适应多样化的物体。该设计易于与主流的平行爪夹爪集成，从而减轻了与感知和抓取规划相关的复杂性，尤其是在面对不可预测的物体位姿和几何形状时。我们在分形虎钳的基础原理之上，将其推广到更广泛的抓取机构类别，并解决了导致其长期被忽视的局限性。两个分形手指通过一个闭合驱动器耦合，可以构成一个自适应且协同的分形手。我们阐述了一种低成本、易于制造、具有大工作空间和柔顺性的分形手指设计方法。姊妹篇论文深入探讨了特定类别分形手指和分形手的运动学与抓取特性。
英文摘要：
This paper, and its companion, propose a new fractal robotic gripper, drawing inspiration from the century-old Fractal Vise. The unusual synergistic properties allow it to passively conform to diverse objects using only one actuator. Designed to be easily integrated with prevailing parallel jaw grippers, it alleviates the complexities tied to perception and grasp planning, especially when dealing with unpredictable object poses and geometries. We build on the foundational principles of the Fractal Vise to a broader class of gripping mechanisms, and also address the limitations that had led to its obscurity. Two Fractal Fingers, coupled by a closing actuator, can form an adaptive and synergistic Fractal Hand. We articulate a design methodology for low cost, easy to fabricate, large workspace, and compliant Fractal Fingers. The companion paper delves into the kinematics and grasping properties of a specific class of Fractal Fingers and Hands.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
