论文标题
串行链铰链支持软，健壮和有效掌握
Serial Chain Hinge Support for Soft, Robust and Effective Grasp
论文作者
论文摘要
本文提出了串行链铰链支撑，这是一种刚性但灵活的结构，可改善软手指抓手的机械性能和稳健性。重力可以在水平方法中降低软手指的完整性，从而导致较低的手指偏转引起的最大有效载荷。为了证实我们的主张，我们在水平和垂直方法下对索非亚抓手的有效载荷和挠度进行了几项实验。此外，我们表明这种强化不会阻碍抓手的原始符合性行为，从而维持原始的运动学模型功能。我们为两个相反的操作问题展示了本体感受和外部感受功能（RGB-D摄像头和Flex传感器）：抓住小对象和大对象。最后，我们在农业和日常活动中验证了改善的索非亚抓手。
This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach, resulting in lower maximum payload caused by a large deflection of fingers. To substantiate our claim we performed several experiments on payload and deflection of the SofIA gripper under both horizontal and vertical approach. In addition, we show that this reinforcement does not impede the original compliant behavior of the gripper, maintaining the original kinematic model functionality. We showcase the proprioceptive and exteroceptive capabilities (RGB-D camera and flex sensor) for two opposing manipulation problems: grasping small and large objects. Finally, we validated the improved SofIA gripper in agricultural and everyday activities.
