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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2510.16524 |
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| _version_ | 1866912659285213184 |
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| author | Ding, Haokai Chen, Zhaohan Yang, Tao Zhang, Wenzeng |
| author_facet | Ding, Haokai Chen, Zhaohan Yang, Tao Zhang, Wenzeng |
| contents | This paper presents the SP-Diff parallel gripper system, addressing the limited adaptability of conventional end-effectors in intelligent industrial automation. The proposed design employs an innovative differential linkage mechanism with a modular symmetric dual-finger configuration to achieve linear-parallel grasping. By integrating a planetary gear transmission, the system enables synchronized linear motion and independent finger pose adjustment while maintaining structural rigidity, reducing Z-axis recalibration requirements by 30% compared to arc-trajectory grippers. The compact palm architecture incorporates a kinematically optimized parallelogram linkage and Differential mechanism, demonstrating adaptive grasping capabilities for diverse industrial workpieces and deformable objects such as citrus fruits. Future-ready interfaces are embedded for potential force/vision sensor integration to facilitate multimodal data acquisition (e.g., trajectory planning and object deformation) in digital twin frameworks. Designed as a flexible manufacturing solution, SP-Diff advances robotic end-effector intelligence through its adaptive architecture, showing promising applications in collaborative robotics, logistics automation, and specialized operational scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_16524 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping Ding, Haokai Chen, Zhaohan Yang, Tao Zhang, Wenzeng Robotics This paper presents the SP-Diff parallel gripper system, addressing the limited adaptability of conventional end-effectors in intelligent industrial automation. The proposed design employs an innovative differential linkage mechanism with a modular symmetric dual-finger configuration to achieve linear-parallel grasping. By integrating a planetary gear transmission, the system enables synchronized linear motion and independent finger pose adjustment while maintaining structural rigidity, reducing Z-axis recalibration requirements by 30% compared to arc-trajectory grippers. The compact palm architecture incorporates a kinematically optimized parallelogram linkage and Differential mechanism, demonstrating adaptive grasping capabilities for diverse industrial workpieces and deformable objects such as citrus fruits. Future-ready interfaces are embedded for potential force/vision sensor integration to facilitate multimodal data acquisition (e.g., trajectory planning and object deformation) in digital twin frameworks. Designed as a flexible manufacturing solution, SP-Diff advances robotic end-effector intelligence through its adaptive architecture, showing promising applications in collaborative robotics, logistics automation, and specialized operational scenarios. |
| title | Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.16524 |