This article presents a new cable-driven underactuated robotic gripper, called TWISTER Hand. It is designed for adaptable grasping of objects in different shapes, weights, sizes, and textures. Each finger of the gripper is made of a compliant and continuum mechanism inspired by an origami design. This design is converted into a computer-aided design (CAD) model and 3-D printed using flexible and rigid polymer composite materials. Two CAD modeling methods for this design are compared in terms of structural stiffness and durability in the printed outcomes. For each design, two soft materials are used for preliminary evaluation of the material effect in these properties. The best combination of the model and material is selected to fabricate the three fingers of the robotic gripper. Each finger has a single cable routed along the structure. All three cables are tied and actuated simultaneously using a single servo motor to generate closing and opening motions in the gripper. TWISTER Hand's adaptable grasping capability is tested using 36 different objects. The robot's grasping performance under object pose uncertainties is also experimentally tested and analyzed. This compact fully integrated gripper can be attached to a robotic arm for various manipulative tasks.

中文翻译：

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TWISTER Hand：受折纸扭曲塔启发的欠驱动机器人抓手

本文介绍了一种新的电缆驱动欠驱动机器人抓手，称为 TWISTER Hand。它专为自适应抓取不同形状、重量、大小和纹理的物体而设计。夹持器的每个手指均由受折纸设计启发的柔顺连续机构制成。该设计被转换为计算机辅助设计 (CAD) 模型，并使用柔性和刚性聚合物复合材料进行 3D 打印。在打印结果的结构刚度和耐用性方面比较了此设计的两种 CAD 建模方法。对于每个设计，使用两种软材料对这些特性中的材料效果进行初步评估。选择模型和材料的最佳组合来制造机器人抓手的三个手指。每个手指都有一条沿着结构布线的电缆。所有三根电缆都使用单个伺服电机同时系紧和驱动，以在夹具中产生闭合和打开运动。TWISTER Hand 的适应性抓握能力已使用 36 种不同的物体进行测试。还对机器人在物体姿态不确定性下的抓取性能进行了实验测试和分析。这种紧凑型完全集成的抓手可以连接到机械臂上以执行各种操作任务。