Development of a Passive Switching Actuator-less Robot Gripper for Grasping and Releasing

Le résumé fourni par la source

In this study, we proposed a robot gripper that utilizes bidirectional stability to achieve approach motions and object grasping without the need for actuators. When the gripper extends toward the target object, it passively transitions to a grasping motion after making contact with the object. During the placement process, the gripper passively switches to a release motion by coming into contact with a goal marker. A prototype of the proposed gripper was fabricated, and validation experiments were conducted. The experimental results confirmed that the proposed gripper could successfully approach the target object, passively transition to a grasping motion, and perform pick-and-place operations. Additionally, the experiments identified and measured the range of object sizes and the allowable weight limits that the gripper could effectively grasp.

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