DeGrip：一种用于台式机拆解的紧凑型绳索驱动机器人夹爪
DeGrip: A Compact Cable-driven Robotic Gripper for Desktop Disassembly
AI总结：
本文提出紧凑型绳索驱动三自由度夹爪 DeGrip，通过解耦腕部与夹爪驱动支持狭窄空间内的任意构型台式机拆解，并在 Isaac Sim 环境中验证其有效性。
摘要：
报废（EOL）产品的智能机器人拆解长期以来一直是机器人领域的挑战。尽管机器学习技术已展现出前景，但专用硬件的缺乏限制了其在现实场景中的应用。我们提出 DeGrip，这是一款为拆解 EOL 计算机台式机而设计的定制夹爪。DeGrip 提供三个自由度（DOF），安装在机械臂上时，能够在拆解环境中实现任意构型。它采用绳索驱动传动机构，缩小了整体尺寸，并能够在狭窄空间内作业。腕部被设计为可解耦腕关节与夹爪关节的驱动。我们还在 Isaac Sim 中开发了一个 EOL 台式机拆解环境，以评估 DeGrip 的有效性。这些任务旨在展示其在狭窄空间内作业以及以任意构型拆解部件的能力。评估结果证实了 DeGrip 用于 EOL 台式机拆解的能力。
英文摘要：
Intelligent robotic disassembly of end-of-life (EOL) products has been a long-standing challenge in robotics. While machine learning techniques have shown promise, the lack of specialized hardware limits their application in real-world scenarios. We introduce DeGrip, a customized gripper designed for the disassembly of EOL computer desktops. DeGrip provides three degrees of freedom (DOF), enabling arbitrary configurations within the disassembly environment when mounted on a robotic manipulator. It employs a cable-driven transmission mechanism that reduces its overall size and enables operation in confined spaces. The wrist is designed to decouple the actuation of wrist and jaw joints. We also developed an EOL desktop disassembly environment in Isaac Sim to evaluate the effectiveness of DeGrip. The tasks were designed to demonstrate its ability to operate in confined spaces and disassemble components in arbitrary configurations. The evaluation results confirm the capability of DeGrip for EOL desktop disassembly.
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