发表机构
Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences; College of Engineering, China Agricultural University; College of Engineering, Shanxi Agricultural University（北京市农林科学院智能装备研究中心; 中国农业大学工学院; 山西农业大学工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究针对传统机器人抓手难题，提出集成低成本气动执行器与3D打印双棘轮棘爪机构的混合刚性-柔性抓手，能实现形状适应、均匀力分布和无能源自锁，实验验证其负载、力分布及能耗等性能优越，为农业任务提供高效方案。
AI 中文摘要
传统机器人抓手在农业自动化中面临重大挑战：在柔顺、自适应抓取、各关节压力平衡和高负载能力之间进行权衡，且能耗通常较高。本文提出一种新型混合刚性-柔性抓手，集成低成本基于薄膜的气动执行器与3D打印双棘轮棘爪机构，可同时实现形状适应、均匀力分布和无能源自锁。双棘轮结构以偏置配置组装显著提高了关节锁定机构的角分辨率。关键实验结果表明该抓手性能优越：最大负载能力达4200g，远超传统柔性抓手；力分布比刚性抓手更均匀；通过自锁机制消除持续气压需求，每个抓取周期总能耗降低50.05%至42.6J。棘轮的增材制造与气动腔室的商用材料相结合确保了低成本且易于制造的设计。这些发现验证了所提出的抓手成功弥合了柔性柔顺性和刚性可靠性之间的差距，为可扩展的农业收获和操作任务提供了强大而高效的解决方案。
英文摘要
Conventional robotic grippers face a significant challenge in agricultural automation: the trade-off between compliant, adaptive grasping, pressure balancing among all joints, and high load capacity, often at the cost of high energy consumption. This paper presents a novel hybrid rigid-soft gripper that integrated low-cost, membrane-based pneumatic actuators with 3D-printed dual ratchet-pawl mechanisms to simultaneously achieve shape adaptation, uniform force distribution, and energy-free self-locking. The dual-ratchet structure assembled in an offset configuration significantly increased the angular resolution of the joint locking mechanism. Key experimental results demonstrated the gripper's superior performance: a remarkable maximum load capacity of 4200 g, far exceeding that of conventional soft grippers (45-210 g); more uniform force distribution across object sizes (1.75-35.29% difference ratio) compared to a rigid gripper (56.77-66.44%), with peak contact forces remaining below surface damage thresholds; and a 50.05% reduction in total energy consumption to 42.6 J per grasp cycle, achieved by eliminating the need for continuous pneumatic pressure through the self-locking mechanism, compared to 85.28 J for a conventional soft gripper. The combination of additive manufacturing for ratchets and commercially available materials for pneumatic chambers ensured a low-cost and easily fabricated design. These findings validated that the proposed gripper successfully bridged the gap between soft compliance and rigid reliability, offering a robust and efficient solution for scalable agricultural harvesting and manipulation tasks.
CommentsAccepted to ICRA 2026
