Adaptive, Rapid, and Stable Trident Robotic Gripper: A Bistable Tensegrity Structure Implementation

摘要

Grasping and manipulating objects represents crucial functionalities for modern robotic grippers. Nonetheless, an enduring challenge persists in engineering a gripper capable of achieving adaptive, rapid, and stable grasping behavior simultaneously. Here, we proposed a bistable mechanism derived from compliant tensegrity structures that performs a rapid shape change within 200 ms, based on which a Trident robotic gripper is developed without the need for additional actuation sources. This universal and unactuated paradigm showcases robust grasping abilities with adaptability and rapidity analogous to natural flytrap leaves. The tunable bistable properties, achieved by varying geometrical parameters, endow the gripper with extensive design flexibility. The morphing configuration of the gripper retains residual energy after transitioning between stable states, ensuring stable grasping without requiring a continuous energy supply. The benefits of the gripper empower the creation of a robotic system capable of handling objects with diverse profiles across various fields and an unactuated mechanism proficient in gently grasping and swiftly moving insects.