“吃豆人”抓手：通过薄壳屈曲实现触觉感知与抓取
The "Pac-Man'' Gripper: Tactile Sensing and Grasping through Thin-Shell Buckling
AI总结：
本文提出基于薄半球壳屈曲的“吃豆人”流体软体抓手，通过单一压力输入实现通用抓取与被动触觉感知，可灵巧操作易碎物体并检测接触、抓取和释放状态。
摘要：
软体轻量抓手极大地提升了机器人机械臂在处理形状、质地和刚度各异的复杂物体时的性能。然而，将通用抓取与被动感知能力相结合仍然面临挑战。为克服这一局限，我们提出了一种基于软薄半球壳屈曲的流体软体抓手，命名为“吃豆人”抓手。利用单一流体压力输入，该软体抓手能够包裹光滑易碎物体，同时被动地提供关于这种物理交互的信息。在解析、数值和实验工具的指导下，我们探索了这种基于力学的软体抓手的新颖抓取原理。首先，我们表征了自由半球壳的屈曲行为与其几何参数之间的函数关系。受自由半球壳的双瓣模态形状启发，该形状非常适合抓取用途，我们证明了该抓手能够在受限环境中对易碎物体进行灵巧操作和轻柔抓取。最后，我们证明了该软体抓手在与未知物体交互过程中具有检测接触、抓取和释放状态的嵌入式能力。这种简单的基于屈曲的软体抓手为自适应抓手形态设计开辟了新途径，其应用范围涵盖医疗与农业机器人、太空与水下探索等领域。
英文摘要：
Soft and lightweight grippers have greatly enhanced the performance of robotic manipulators in handling complex objects with varying shape, texture, and stiffness. However, the combination of universal grasping with passive sensing capabilities still presents challenges. To overcome this limitation, we introduce a fluidic soft gripper, named the ``Pac-Man'' gripper, based on the buckling of soft, thin hemispherical shells. Leveraging a single fluidic pressure input, the soft gripper can encapsulate slippery and delicate objects while passively providing information on this physical interaction. Guided by analytical, numerical, and experimental tools, we explore the novel grasping principle of this mechanics-based soft gripper. First, we characterize the buckling behavior of a free hemisphere as a function of its geometric parameters. Inspired by the free hemisphere's two-lobe mode shape ideal for grasping purposes, we demonstrate that the gripper can perform dexterous manipulation and gentle gripping of fragile objects in confined environments. Last, we prove the soft gripper's embedded capability of detecting contact, grasping, and release conditions during the interaction with an unknown object. This simple buckling-based soft gripper opens new avenues for the design of adaptive gripper morphologies with applications ranging from medical and agricultural robotics to space and underwater exploration.
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。
