This paper presents environment-adaptive pinch-lifting built on a slot-constrained adaptive linkage (SCAL) and instantiated in two complementary fingers: SCAL-R, a rotational-drive design with an active fingertip that folds inward after contact to form an envelope, and SCAL-L, a linear-drive design that passively opens on contact to span wide or weak-feature objects. Both fingers convert surface following into an upward lifting branch while maintaining fingertip orientation, enabling thin or low-profile targets to be raised from supports with minimal sensing and control. Two-finger grippers are fabricated via PLA-based 3D printing. Experiments evaluate (i) contact-preserving sliding and pinch-lifting on tabletops, (ii) ramp negotiation followed by lift, and (iii) handling of bulky objects via active enveloping (SCAL-R) or contact-triggered passive opening (SCAL-L). Across dozens of trials on small parts, boxes, jars, and tape rolls, both designs achieve consistent grasps with limited tuning. A quasi-static analysis provides closed-form fingertip-force models for linear parallel pinching and two-point enveloping, offering geometry-aware guidance for design and operation. Overall, the results indicate complementary operating regimes and a practical path to robust, environment-adaptive grasping with simple actuation.

翻译：本文提出了一种基于槽约束自适应连杆（SCAL）的环境自适应夹持提升方法，并通过两个互补的手指结构实现：SCAL-R采用旋转驱动设计，其主动指尖在接触后向内折叠形成包络；SCAL-L采用线性驱动设计，在接触时被动展开以抓取宽大或弱特征物体。两种结构均将表面跟随运动转化为向上的提升分支，同时保持指尖方向，使薄型或低矮目标能以最小感知与控制需求从支撑面抬升。双指夹持器通过PLA基3D打印制造。实验评估包括：（1）在桌面上进行接触保持滑动与夹持提升；（2）斜坡过渡后执行提升；（3）通过主动包络（SCAL-R）或接触触发被动展开（SCAL-L）处理大体积物体。在对小型零件、盒子、罐体及胶带卷进行的数十次测试中，两种设计均以有限调参实现了稳定抓取。准静态分析为线性平行夹持与两点包络提供了闭合形式的指尖力模型，为设计与操作提供几何感知指导。总体结果表明，该方法具有互补的工作区间，为通过简单驱动实现鲁棒的环境自适应抓取提供了实用路径。