基于柔触刚夹仿生抓持机理的水下自适应末端执行器

钟树乔; 宋超阳; 周志远; 万芳; 林间

doi:10.11993/j.issn.2096-3920.2025-0092

基于柔触刚夹仿生抓持机理的水下自适应末端执行器

doi: 10.11993/j.issn.2096-3920.2025-0092

钟树乔^1,,
宋超阳^2,,
周志远^{1, 3,},
万芳^4,,
林间^{1, 3, ,}

1.
南方科技大学海洋科学与工程系, 广东深圳, 518055
2.
南方科技大学机械与能源工程系, 广东深圳, 518055
3.
南方科技大学海洋高等研究院, 广东深圳, 518055
4.
南方科技大学创新创意设计学院, 广东深圳, 518055

基金项目: 国家自然科学基金面上项目(62473189); 国家自然科学基金青年项目(62206119); 国家重点研发计划项目(2024YFF0506704); 深圳市稳定支持项目(20231115141649002).

详细信息

通讯作者:
林　间(1959-), 男, 欧洲科学院院士、讲席教授, 博士, 主要研究方向为海洋地球物理及深海尖端技术等.

中图分类号: TJ630; U663
计量
- 文章访问数: 44
- HTML全文浏览量: 22
- PDF下载量: 5
- 被引次数: 0
出版历程
- 收稿日期: 2025-07-23
- 修回日期: 2025-09-09
- 录用日期: 2025-09-10
- 网络出版日期: 2025-09-23

Underwater Adaptive End Effector Based on Biomimetic Grasping Mechanism of Soft-Rigid Gripper

ZHONG Shuqiao^1
,,
SONG Chaoyang^2
,,
ZHOU Zhiyuan^{1, 3
,},
WAN Fang^4
,,
LIN Jian^{1, 3
, ,}

1.
Department of Ocean Science and Engineering, Southern University of Science and Technology, Shenzhen 518055, China
2.
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
3.
SUSTech’s Advanced Institute for Ocean Research, Southern University of Science and Technology, Shenzhen 518055, China
4.
School of Design, Southern University of Science and Technology, Shenzhen 518055, China

摘要

摘要: 水下夹爪作为水下无人装备的末端执行器，其性能直接决定任务执行效能。当前商业夹爪难以同时满足强负载与高适应性需求, 难以兼顾“无损抓取”与“强力持握”的双重要求。文中提出一种新型仿生刚柔耦合夹爪设计LobSTER Gripper, 灵感源自龙虾钳部生物结构。该夹爪采用“柔性指外覆刚性指”的仿生反转结构: 通过具有被动全向适应性的软体手指实现初始“柔触”包络, 再由内部刚性手指提供可靠“刚夹”持握, 无需复杂驱动控制即可分阶段完成刚度切换, 并可以在手指底部集成视触觉传感实现水下目标的精准感知与稳定抓取。实验验证显示, 该夹爪在位姿扰动场景下抓取成功率达100%, 显著优于传统刚性夹爪的80%。这一设计为水下自适应抓取提供了低成本、高可靠性的易迁移解决方案, 具备显著的工程应用价值与推广前景。
- 水下抓取 /
- 水下夹爪 /
- 仿生设计 /
- 触觉感知 /
- 刚柔耦合
Abstract: The underwater gripper serves as the end effector of underwater unmanned equipment, and its performance directly determines the effectiveness of the mission. Currently, commercial grippers are difficult to simultaneously meet the requirements of high load capacity and high adaptability, and it is hard to balance the dual demands of “non-destructive grasping” and “firm holding”. Inspired by lobster claws, this study proposed a novel biomimetic rigid-soft gripper, the “LobSTER Gripper”. It used a biomimetic reversed structure of soft fingers coated with rigid fingers: The soft fingers with passive compliance provided gentle initial contact, while internal rigid fingers ensured firm holding, enabling phased stiffness adaptation without complex drive control, it can also integrate visuo-tactile sensing at the base of the fingers to achieve precise perception and stable grasping of underwater targets. Experimental verification shows that the gripper achieves a 100% success rate in grasping in the pose disturbance scenario, significantly outperforming the traditional rigid gripper, which has an 80% success rate. The design offers a low-cost, reliable, and easily transferable solution for adaptive underwater grasping with significant engineering application value and promising promotion prospects.
- underwater grasping /
- underwater gripper /
- biomimetic design /
- tactile sensing /
- soft-rigid gripper

HTML全文

图 1 LobSTER Gripper结构图

Figure 1. Structure of LobSTER Gripper

下载: 全尺寸图片幻灯片

图 2 夹爪抓取过程实验结果

Figure 2. Experimental results during the gripper grasping process

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图 3 夹爪抓取瓶子效果展示

Figure 3. Demonstration of the gripper's bottle grasping effect

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图 4 抓取成功率实验设置

Figure 4. Setup of the grasping success rate experiment

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图 5 刚性夹爪区域抓取成功率图

Figure 5. Grasping success rate of rigid gripper in regional areas

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表 1 近年水下夹爪及其触觉传感信息汇总

Table 1. Summary of recent years’ underwater gripper designs and tactile sensing information

文献	年份	刚柔特性	驱动方式	传感器类型	传感信息
[9]	2022	柔性	液压驱动	流量估计器	目标尺寸
[10]	2022	刚性	电机启动	摩擦电传感器	硬度
[11]	2023	柔性	液压驱动	霍尔传感器	力/硬度
[12]	2023	柔性	液压驱动	—	—
[13]	2023	柔性	形状记忆合金驱动	—	—
[14]	2024	柔性	液压驱动	—	—
[15]-[18]	2024	柔性	电机驱动	视触觉传感器	力/接触/ 形状重建
[19]	2024	刚柔耦合	电机驱动	立柱传感器	力
[20]	2025	刚柔耦合	伺服电机驱动	—	—
[21]	2025	柔性	气压驱动	—	—
[22]-[23]	2025	柔性	气压驱动	摩擦电传感器	目标形状/ 硬度
[24]	2025	刚柔耦合	气压驱动	—	—

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