Underactuated grippers represent an appealing solution that allows complex objects to be grasped and manipulated via passive adaptation of the hand with objects via simple control inputs. The grasping ability can be further improved in combination with vacuum gripping, i.e., by outfitting the gripper phalanges with suction cups, that remains a largely underinvestigated solution. This paper presents a novel gripper, referred to as POLYPUS, that features underactuation and vacuum grasping to handle uneven and even objects made of different materials, including cardboard, glass, sheet metal, and plastic. Being characterized by a solid frame, POLYPUS does not fall in the soft gripper category, while preserving similar adaptability. It provides unique load lifting capacity that ranges from light to heavy objects, whereas most of the existing grippers are tailored for a specific target payload. Being modular in design, POLYPUS can be easily reconfigured for a wide range of object sizes and applications. Results obtained from an extensive set of simulations are included to evaluate the grasping performance expressed in terms of the minimum suction force to handle objects of varying shape, material, and pose.

欠驱动夹具代表了一种吸引人的解决方案，它允许通过简单的控制输入通过手对物体的被动适应来抓取和操纵复杂的物体。与真空抓取相结合，抓取能力可以进一步提高，即通过为抓手指骨配备吸盘，这仍然是一个很大程度上未得到充分研究的解决方案。本文介绍了一种称为 POLYPUS 的新型抓手，它具有欠驱动和真空抓取功能，可处理由不同材料制成的不平整甚至均匀物体，包括纸板、玻璃、金属板和塑料。POLYPUS 的特点是坚固的框架，不属于软抓手类别，同时保留了类似的适应性。它提供独特的负载提升能力，范围从轻到重的物体，而大多数现有的抓手都是为特定的目标有效载荷量身定制的。由于采用模块化设计，POLYPUS 可以轻松地重新配置以适应各种物体尺寸和应用。包括从大量模拟中获得的结果，以评估以最小吸力表示的抓取性能，以处理不同形状、材料和姿势的物体。