ARTiS：用于拆卸应用中增强型工具操作的自适应机器人抓手
ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications
- National Institute of Advanced Industrial Science and Technology (AIST)（日本国立先进工业科学技术研究所（AIST））
- The University of Osaka（大阪大学）
- Graduate School of Engineering Science, The University of Osaka（大阪大学工程科学研究生院）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文介绍了一款名为ARTiS的新型机器人抓手，其结合柔性抓手、拟人机械手与刚性机构的优势，经测试可牢固握持各类拆卸工具，适用于自动化与协作任务。
AI中文摘要：
在使用工具时抓取并握持工具，对机器人和人类而言都是一项重大挑战，这一挑战在涉及装配与拆卸的流程中尤为突出，此类流程的效率和一致性取决于能否执行快速自适应任务。然而，当前能够在操作过程中牢固握持工具的机器人抓取技术往往存在显著局限。本文介绍了ARTiS（Adaptive Robotic Tool Gripper in Disassembly Systems，即拆卸系统中的自适应机器人工具抓手），这是一款新型抓手，结合了柔性抓手的适应性、拟人机械手的灵巧性以及刚性机构的坚固性，具备柔性手掌和指尖。这种独特组合可通过手掌中的主动锁止（active jamming）和指尖的鳍状射线适配（fin-ray adaptation），在多种场景下牢固握持工具。此外，其采用七自由度设计实现了高指尖灵巧性，使指尖可朝向任意表面，适用于自动化解决方案和协作任务。研究人员使用多种传统拆卸工具开展了全面评估，以测试该抓手的顺应性、耐用性和功能通用性。更多信息、硬件说明及视频可访问此https URL。
英文摘要：
Grasping and holding tools while using them presents a considerable challenge not only for robots but also for humans. Such a challenge is particularly noticeable in processes involving assembly and disassembly, where efficiency and consistency depend on performing rapidly adaptive tasks. Nonetheless, contemporary robotic grasping technologies that can securely manipulate tools during operation frequently have significant constraints. In this paper, introduce ARTiS (Adaptive Robotic Tool Gripper in Disassembly Systems), a novel gripper that combines the adaptability of soft grippers, the dexterity of anthropomorphic hands, and the robustness of rigid mechanisms with a soft palm and fingertips. This unique combination makes it possible to hold tools securely in a variety of situations through using active jamming in the palm and fin-ray adaptation in fingertips. Furthermore, high finger dexterity is achieved through the seven degrees of freedom design, which enables the fingertips to orient to any surface, both for automated solutions and collaborative tasks. A comprehensive evaluation was conducted using a range of conventional disassembly tools to assess the gripper's compliance, durability, and functional versatility. More information, hardware instructions, and videos at https://romanmykhailyshyn.github.io/artis/
