Friedl Werner, Roa Máximo A
German Aerospace Center-DLR, Institute of Robotics and Mechatronics, Wessling, Germany.
Front Robot AI. 2020 Jan 17;6:138. doi: 10.3389/frobt.2019.00138. eCollection 2019.
Automation of logistic tasks, such as object picking and placing, is currently one of the most active areas of research in robotics. Handling delicate objects, such as fruits and vegetables, both in warehouses and in plantations, is a big challenge due to the delicacy and precision required for the task. This paper presents the CLASH hand, a Compliant Low-Cost Antagonistic Servo Hand, whose kinematics was specifically designed for handling groceries. The main feature of the hand is its variable stiffness, which allows it to withstand collisions with the environment and also to adapt the passive stiffness to the object weight while relying on a modular design using off-the-shelf low-cost components. Due to the implementation of differentially coupled flexors, the hand can be actuated like an underactuated hand but can also be driven with different stiffness levels to planned grasp poses, i.e., it can serve for both model-based grasp planning and for underactuated or model-free grasping. The hand also includes self-checking and logging processes, which enable more robust performance during grasping actions. This paper presents key aspects of the hand design, examines the robustness of the hand in impact tests, and uses a standardized fruit benchmarking test to verify the behavior of the hand when different actuator and sensor failures occur and are compensated for autonomously by the hand.
物流任务的自动化，如物体的拾取和放置，是当前机器人技术中最活跃的研究领域之一。在仓库和种植园中处理诸如水果和蔬菜等易碎物品是一项巨大的挑战，因为该任务需要精细度和精准度。本文介绍了CLASH手，一种柔顺低成本拮抗伺服手，其运动学专为处理食品杂货而设计。该手的主要特点是其可变刚度，这使其能够承受与环境的碰撞，并且在依赖使用现成低成本组件的模块化设计的同时，还能使被动刚度适应物体重量。由于采用了差动耦合屈肌，该手既可以像欠驱动手一样驱动，也可以以不同的刚度水平驱动到规划的抓握姿势，即它既可以用于基于模型的抓握规划，也可以用于欠驱动或无模型抓握。该手还包括自我检查和记录过程，这使得在抓握动作期间性能更加稳健。本文介绍了该手设计的关键方面，在冲击测试中检验了该手的稳健性，并使用标准化水果基准测试来验证该手在不同执行器和传感器发生故障并由手自主补偿时的行为。
