This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only a single motor. In the insertion mode, the finger assumes a thin shape such that it can insert its tip into a narrow space. The grasping mode of the finger is activated through a folding mechanism. Mode switching can be achieved in two ways: switching the mode actively by a motor, or combining passive rotation of the fingertip through contact with the support surface and active motorized construction of the claw. The latter approach is effective when it is unclear how much finger insertion is required for a specific task. The structure provides a simple control scheme. The performance of the proposed robotic gripper design and control methodology was experimentally evaluated. The minimum width of the insertion space required to grasp an object is 4 mm (1 mm, when using a strategy).
翻译:本信建议使用一个新的单指可重新配置的机器人抓抓器,用于在狭窄的工作空间捕捉物体。 发达抓手的手指可以实现两种配置, 即插入和抓抓模式, 仅使用一个发动机。 在插入模式中, 手指的细形可以将其尖子插入一个狭窄的空间。 手指的抓抓模式通过折叠机制激活。 模式转换可以通过以下两种方式实现: 由发动机积极切换模式, 或者通过与支持面接触将手指的被动旋转结合起来, 或通过主动机动构筑爪子。 后一种方法是有效的, 当不清楚具体任务需要多少手指插入时。 结构提供了一个简单的控制方案。 拟议的机械抓抓手设计和控制方法的性能得到了实验性评估。 掌握物体所需的插入空间最小宽度为4毫米( 当使用策略时为1毫米 ) 。