Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping

2025-10-18

AI Summary

To address the limited adaptability, insufficient rigidity, and inadequate precision of conventional end-effectors in intelligent industrial automation, this paper proposes a parallel gripper system based on semi-Passive-Link mechanisms and differential transmission. The design innovatively integrates planetary gear actuation with a symmetric, modular dual-finger architecture, enabling independent finger pose adjustment and synchronized linear translational grasping—supporting both precise linear motion and adaptive enveloping. A kinematically optimized parallelogram linkage enhances structural rigidity, reducing Z-axis recalibration frequency by 30%. Standardized force and vision sensor interfaces ensure compatibility with digital twin–enabled multimodal data acquisition. Experimental validation demonstrates robust adaptive grasping performance on both rigid components and highly deformable objects (e.g., citrus fruits), significantly improving end-effector intelligence for collaborative robotics and logistics automation applications.

Technology Category

• Intelligent Robots: Manipulation
• Computer Vision: Multi-modal Vision
• Humans and AI: Interaction Techniques and Devices

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Search and Retrieval-Augmented AI: Retrieval-Augmented Generation (RAG) and multi-modal RAG
• Semantics and Knowledge: Methods to enhance, augment, integrate or synergize semantic models such as knowledge graphs and LLMs

Abstract

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.

Problem

• Develops adaptive gripper for industrial automation with limited end-effector adaptability
• Achieves linear-parallel grasping using differential linkage and modular finger design
• Enables synchronized motion and independent finger adjustment while maintaining rigidity

Innovation

• Differential linkage mechanism enables linear-parallel grasping
• Planetary gear transmission synchronizes motion and adjustments
• Kinematic parallelogram linkage achieves adaptive object grasping