형상 적응 파지를 위한 소형 부족 구동 기반 그리퍼 개발

Abstract

This paper proposes a wire-driven gripper that actuates three fingers using a single motor, aiming to enable stable object manipulation in confined and unstructured environments such as battlefields and disaster sites. Unmanned robots operating in such scenarios are increasingly required to perform missions including reconnaissance, search, rescue, and hazardous material removal. To fulfill these tasks, compact and reliable gripper systems are essential. Conventional grippers are categorized into soft grippers, which offer excellent shape adaptability through flexible materials, and rigid grippers, which provide structural strength. However, soft grippers are unsuitable for field environments due to limited stiffness, while rigid grippers lack adaptability for irregular objects. The proposed gripper enhances adaptability by leveraging wire-driven mechanism and reduces size and complexity through single-motor actuation. The design was validated through workspace analysis and motor torque estimation, and grasping experiments confirmed its performance. This paper demonstrates that the proposed gripper is well-suited for unmanned robots tasked with hazardous material handling and rescue operations in constrained environments.