论文标题
合规的吸入抓手，无缝部署和撤回，以稳健地挑选深度和倾斜错误
Compliant Suction Gripper with Seamless Deployment and Retraction for Robust Picking against Depth and Tilt Errors
论文作者
论文摘要
由于视觉系统中的深度和倾斜错误，在非结构化的环境中应用吸气握手是一项具有挑战性的任务，需要在详尽的感应和控制中进行额外的成本。为了降低额外的成本，已经提出了具有合规尸体或机制的吸力握手；但是，它们的笨重和有限的允许错误阻碍了它们在复杂环境中的使用情况很大。在这里，我们提出了一个紧凑的吸力抓手，可以在不精心的感应和控制的情况下在较远的距离和倾斜角度上挑选物体。弹簧插入的抓手身体部署并符合远处和倾斜的物体，直到吸入杯完全用物体密封并在握住物体的同时立即缩回。这种无缝的部署和撤回是通过将抓地力和吸杯连接到同一真空源来实现的，该真空源将真空吸收和收回抓地力。实验结果验证了所提出的抓手可以在79毫米内选择对象，这是初始长度的1.4倍，并且可以选择具有倾斜角至60°的对象。示范验证了抓地力的可行性，包括从相同的拾取高度挑选不同高度的对象以及透明对象的垃圾箱拾取。
Applying suction grippers in unstructured environments is a challenging task because of depth and tilt errors in vision systems, requiring additional costs in elaborate sensing and control. To reduce additional costs, suction grippers with compliant bodies or mechanisms have been proposed; however, their bulkiness and limited allowable error hinder their use in complex environments with large errors. Here, we propose a compact suction gripper that can pick objects over a wide range of distances and tilt angles without elaborate sensing and control. The spring-inserted gripper body deploys and conforms to distant and tilted objects until the suction cup completely seals with the object and retracts immediately after, while holding the object. This seamless deployment and retraction is enabled by connecting the gripper body and suction cup to the same vacuum source, which couples the vacuum picking and retraction of the gripper body. Experimental results validated that the proposed gripper can pick objects within 79 mm, which is 1.4 times the initial length, and can pick objects with tilt angles up to 60°. The feasibility of the gripper was verified by demonstrations, including picking objects of different heights from the same picking height and the bin picking of transparent objects.
