论文标题
单指的可重新配置机器人抓手，具有狭窄工作空间的折叠机构
Single-Fingered Reconfigurable Robotic Gripper With a Folding Mechanism for Narrow Working Spaces
论文作者
论文摘要
这封信提出了一种新颖的单指重构机器人抓手，用于在狭窄的工作空间中抓住对象。发达的抓手的手指仅使用一个电动机就实现了两种配置，即插入和抓握模式。在插入模式下，手指假定薄的形状，因此可以将其尖端插入狭窄的空间。手指的抓握模式通过折叠机制激活。模式切换可以通过两种方式实现：通过电动机主动切换模式，或通过与支撑面的接触和爪的主动机动结构结合指尖的被动旋转。当尚不清楚特定任务需要多少手指插入时，后一种方法是有效的。该结构提供了一个简单的控制方案。实验评估了所提出的机器人抓手设计和控制方法的性能。掌握对象所需的插入空间的最小宽度为4 mm（使用策略时1毫米）。
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).
