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首页> 外文会议>2016 International Conference on Advanced Robotics and Mechatronics >A Spherical Self-Adaptive Gripper with shrinking of an elastic membrane
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A Spherical Self-Adaptive Gripper with shrinking of an elastic membrane

机译：带有弹性膜收缩的球形自适应夹爪

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摘要

The traditional grippers with multiple fingers are able to grip a variety of objects. But the structure is complex, the control is complicated and the cost is high. A novel gripper, Spherical Self-Adaptive (SSA) Gripper was developed. The SSA Gripper is capable of gripping multiple objects self-adaptively. The SSA Gripper consists of a bowl part, an elastic membrane, water, a tendon and a two-segment aisle. In SSA Gripper, the motor pulls the tendon, and on the other end of the tendon, the elastic membrane which contains water is tightened and shrinks. In cooperation with the bowl part, some water enters aisles and the elastic membrane wraps the object self-adaptively. The water presses the object and there is a vacuum region between the elastic membrane and the object. Through the water pressure, atmospheric pressure and the friction between the elastic membrane and the object, the gripping process is achieved. The experiments show that the SSA Gripper can adapt to grip different shapes and sizes of objects in different directions automatically; the SSA Gripper can grip multiple objects simultaneously; simple structure, easy control and low cost lead to the potential for bulk productions and large-scale applications.
机译：用多个手指传统的抓取器能够抓住各种不同的物体。但结构复杂，控制复杂，成本高。开发了一种新颖的夹持器，即球形自适应（SSA）夹持器。在SSA夹具能够夹住多个对象自适应的。 SSA夹爪由一个碗状部分，一个弹性膜，水，一个腱和一个两段式过道组成。在SSA夹钳中，电动机拉动肌腱，在肌腱的另一端，紧紧地使包含水的弹性膜收缩。与碗部配合，一些水进入过道，并且弹性膜自适应地包裹物体。水挤压物体，并且在弹性膜和物体之间存在真空区域。通过水压，大气压力和弹性膜片与物体之间的摩擦力，可以实现抓握过程。实验表明，SSA夹爪能够自动适应不同方向的不同形状和大小的物体。 SSA夹爪可同时抓握多个物体；简单的结构，易于控制的成本和低成本导致了批量生产和大规模应用的潜力。

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