发表机构
Zhejiang University; Torch Kernel Co., Ltd.（浙江大学; 炬芯科技股份有限公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对现有机械夹爪抓取薄物体时稳健性不足的问题，提出主动表面驱动的可重构欠驱动夹爪，通过设计、建模、优化及实验验证，实现薄物体的可靠抓取与顺序操作。
AI 中文摘要
机械夹爪在抓取和操作薄物体时面临重大挑战。大多数现有夹爪依赖高度精确的接近和抓取动作，这限制了稳健性并降低了适用性。本文以书籍为代表示例，研究薄物体的抓取。我们提出一种新颖解决方案，将主动表面与欠驱动柔顺性相结合，无需复杂控制即可实现薄物体的稳定抓取。首先，设计一种带有主动表面的欠驱动夹爪：主动表面拇指可在不调整机械臂或其他手指的情况下完成目标书籍的内部重新定位，欠驱动手指与环境建立柔顺接触条件，可重构结构支持不同摆放配置下书籍的可靠抓取。其次，建立夹爪的运动学模型，确定两种典型场景（平放于桌面的书籍、垂直堆叠于书架的书籍）的初始抓取姿态。第三，通过分析平放于桌面的书籍的物理模型及其与夹爪和环境的相互作用，系统优化结构参数与抓取策略。最后，大量实验验证了所提夹爪及策略的有效性：结果表明，其在抓取平放薄物体（包括书籍、纸张、织物、塑料膜、鼠标垫）时表现出强稳健性与适应性，抓取垂直堆叠书籍的成功率高，且可可靠完成长序列“抓取-放置”任务。
英文摘要
Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here, we propose a novel solution that integrates an active surface with underactuated compliance to achieve stable grasping of thin objects without complex control. First, an underactuated gripper with an active surface is designed. The active-surface thumb performs in-hand repositioning of the target book without requiring adjustments of the robot arm or the other fingers, while the underactuated fingers establish compliant contact conditions with the environment, and the reconfigurable structure enables reliable grasping of books under different configurations. Second, we establish a kinematic model of the gripper, and determine the initial grasp postures for two representative scenarios (books lying flat on a desktop and books vertically packed in a shelf). Third, by analyzing the physical model of a book lying on a table and its interaction with the gripper and the environment, we systematically optimize the structural parameters and grasping strategy. Finally, extensive experiments validate the effectiveness of the proposed gripper and strategy. The results demonstrate strong robustness and adaptability when grasping thin objects placed flat (including books, paper, fabric, plastic film, and mouse pad), as well as a high success rate when grasping vertically packed books. Moreover, the proposed gripper can reliably complete long sequential "grasp-place" tasks.
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