Robotic grasping has become increasingly important in many application areas such as industrial manufacturing and logistics. Because of the diversity and uncertainty of objects and environments, common grippers with one single grasping mode face difficulties to fulfill all the tasks. Hence, we proposed a soft gripper with multiple grasping modes in this study. The gripper consists of four modular soft fingers integrated with layer jamming structure and tendon-driven mechanism. Each finger's rotating shaft of the base uses a torsional spring to decouple the bending deformation and relative rotation. An octopus-mimicking vacuum sucker is installed in the fingertip to generate suction. The effectiveness of the bending deformation and variable stiffness of the design were proved by finite element simulation. Thus, the control model of the finger was built, and the control strategy of multimode grasping of the gripper was proposed. Three control modes were designed to realize the four anthropomorphic grasping modes, including wrap, pinch, hook, and suck. Furthermore, the grasping performance was evaluated to show the abilities. The experiments indicated the superior performance of the proposed gripper and the multimode grasping ability that satisfies various grasping tasks.

中文翻译：

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夹层结构和肌腱驱动机构实现的多模抓取软夹持器

机器人抓取在工业制造和物流等许多应用领域变得越来越重要。由于物体和环境的多样性和不确定性，具有单一抓取模式的普通夹持器难以完成所有任务。因此，我们在本研究中提出了一种具有多种抓取模式的软抓手。夹持器由四个模块化软手指组成，集成了层卡结构和肌腱驱动机构。底座的每个手指的旋转轴使用扭簧来解耦弯曲变形和相对旋转。指尖安装了一个模仿章鱼的真空吸盘以产生吸力。通过有限元仿真验证了设计的弯曲变形和变刚度的有效性。因此，建立了手指的控制模型，提出了机械手多模式抓取的控制策略。设计了三种控制方式，实现了包裹、捏、钩、吸四种拟人化抓取方式。此外，对抓握性能进行评估以显示能力。实验表明，所提出的夹持器具有优越的性能和满足各种抓取任务的多模式抓取能力。