水下无人系统学报2025，Vol.33Issue(5)：818-825,8.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
Underwater Adaptive End Effector Based on Biomimetic Grasping Mechanism of Soft-Rigid Gripper
摘要
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.关键词
水下抓取/水下夹爪/仿生设计/触觉感知/刚柔耦合Key words
underwater grasping/underwater gripper/biomimetic design/tactile sensing/soft-rigid gripper分类
武器工业引用本文复制引用
钟树乔,宋超阳,周志远,万芳,林间..基于柔触刚夹仿生抓持机理的水下自适应末端执行器[J].水下无人系统学报,2025,33(5):818-825,8.基金项目
国家自然科学基金面上项目(62473189) （62473189）
国家自然科学基金青年项目(62206119) （62206119）
国家重点研发计划项目(2024YFF0506704) （2024YFF0506704）
深圳市稳定支持项目(20231115141649002). （20231115141649002）
