In this work, we proposed an inflatable particle-jamming gripper based on a novel grasping strategy of integrating the positive pressure and partial filling, in which the positive pressure increases the contact area between the gripper and objects, and the grain package in a partial-filled state provides significant grasping adaptation for the gripper. First, we design and fabricate the inflatable particle-jamming gripper and clarify its working mechanism. Then three kinds of grippers, including the proposed inflatable gripper, full-filled gripper, and partial-filled gripper, are experimentally compared for the capability of grasping objects of various sizes, and their performances from four metrics (compliance, reliability, grasping robustness, and lifting efficiency) are evaluated as well. Furthermore, a theoretical analysis is carried out for different grasping performances among the three kinds of grippers, in which the inflatable gripper performs a more promising grasping performance. In this article, by inflating the gripper to an ordered extent with positive pressure, the originally full-filled gripper turns into a partial-filled state. Based on the unique grasping strategy of the proposed gripper, it is possible to achieve a brilliant compliance and robust grasps. Even though the object is located 20 mm away from the gripper-center-axis, valid grasps are observed as well. It is concluded that the proposed gripper could potentially have a wide range of applications in the industry and daily activities.

中文翻译：

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基于正压和部分填充一体化的充气式颗粒物堵塞机器人夹持器

在这项工作中，我们提出了一种基于正压和部分填充相结合的新型抓取策略的充气式颗粒干扰夹持器，其中正压增加了夹持器与物体之间的接触面积，并且颗粒包裹在部分-填充状态为夹持器提供了显着的抓取适应。首先，我们设计并制作了充气式颗粒物夹持器，并阐明了其工作原理。然后，通过实验比较了三种夹爪，包括所提出的充气夹爪、全填充夹爪和部分填充夹爪，从四个指标（顺应性、可靠性、抓取鲁棒性、和提升效率）也进行了评估。此外，对三种抓具的不同抓握性能进行了理论分析，其中充气抓具的抓握性能较好。在这篇文章中，通过正压给夹爪充气到有序的程度，原来充满的夹爪变成了部分填充的状态。基于所提出的夹具的独特抓取策略，可以实现出色的顺应性和稳健的抓取。即使物体距离夹持器中心轴 20 毫米，也可以观察到有效的抓握。得出的结论是，所提出的夹持器可能在工业和日常活动中具有广泛的应用。其中充气抓手的抓握性能更佳。在这篇文章中，通过正压给夹爪充气到有序的程度，原来充满的夹爪变成了部分填充的状态。基于所提出的夹具的独特抓取策略，可以实现出色的顺应性和稳健的抓取。即使物体距离夹持器中心轴 20 毫米，也可以观察到有效的抓握。得出的结论是，所提出的夹持器可能在工业和日常活动中具有广泛的应用。其中充气抓手的抓握性能更佳。在这篇文章中，通过正压给夹爪充气到有序的程度，原来充满的夹爪变成了部分填充的状态。基于所提出的夹具的独特抓取策略，可以实现出色的顺应性和稳健的抓取。即使物体距离夹持器中心轴 20 毫米，也可以观察到有效的抓握。得出的结论是，所提出的夹持器可能在工业和日常活动中具有广泛的应用。有可能实现出色的合规性和稳健的掌握。即使物体距离夹持器中心轴 20 毫米，也可以观察到有效的抓握。得出的结论是，所提出的夹持器可能在工业和日常活动中具有广泛的应用。有可能实现出色的合规性和稳健的掌握。即使物体距离夹持器中心轴 20 毫米，也可以观察到有效的抓握。得出的结论是，所提出的夹持器可能在工业和日常活动中具有广泛的应用。