Grippers are widely used in Industrial Internet for facilitating various operations such as logistics, materials handling, assembly, etc. Current grippers are specifically designed for a specific application so that it is difficult to adapt to a wide variety of shapes and sizes. Soft grippers have been developed to grasp objects with high surface complexity in Industrial Internet. Some challenges such as low controllability and long response time still exist. Rigid robot gripper shows good characters like robustness, accuracy and short response time. This paper thus presents a robot self-adaptive gripper using rigid fingers, where four rigid fingers are connected by springs that are tied to a screw rod. The screw rod is actuated by a rotary motor. Tip force of the fingers could be precisely controlled by the linear movement of the screw rod. The shapes and sizes of the object could be adaptively grasped due to the elasticity of the connecting springs. The proposed gripper is tested and verified to be highly flexible and controllable so that it could be suitable for most of the applications in production systems in the context of Industrial Internet.

夹持器广泛用于工业互联网，以促进各种操作，例如物流，物料搬运，组装等。当前的夹持器是专门为特定应用而设计的，因此很难适应各种形状和尺寸。已经开发了软抓持器来抓取工业互联网中具有高表面复杂性的物体。诸如可控性差和响应时间长等挑战仍然存在。刚性机械手具有良好的性能，例如坚固性，准确性和响应时间短。因此，本文提出了一种使用刚性指状件的机器人自适应抓具，其中四个刚性指状件通过绑在螺杆上的弹簧连接。螺杆由旋转马达致动。手指的指尖力可以通过螺杆的线性运动精确控制。由于连接弹簧的弹性，可以自适应地掌握物体的形状和大小。所提出的机械手经过测试和验证，具有很高的灵活性和可控性，因此可以适用于工业Internet环境下生产系统中的大多数应用。