Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making widespread applications limited. To better relieve relevant research gaps, we present a novel 3-finger linkage-based gripper that realizes retractable and reconfigurable multi-mode grasps driven by a single motor. Firstly, inspired by the changes that occurred in the contact surface with a human finger moving, we artfully design a slider-slide rail mechanism as the phalanx to achieve retraction of each finger, allowing for better performance in the enveloping grasping mode. Secondly, a reconfigurable structure is constructed to broaden the grasping range of objects' dimensions for the proposed gripper. By adjusting the configuration and gesture of each finger, the gripper can achieve five grasping modes. Thirdly, the proposed gripper is just actuated by a single motor, yet it can be capable of grasping and reconfiguring simultaneously. Finally, various experiments on grasps of slender, thin, and large-volume objects are implemented to evaluate the performance of the proposed gripper in practical scenarios, which demonstrates the excellent grasping capabilities of the gripper.

翻译：欠驱动机器人手爪作为机器人的一种普遍工具，已成为重要的研究热点。尽管其机械设计和控制策略简单，但存在通用性差、适应性弱等问题，导致其广泛应用受到限制。为更好地弥补相关研究空白，我们提出了一种新颖的基于三连杆的夹持器，该夹持器通过单电机驱动实现可伸缩、可重构的多模式抓取。首先，受人类手指运动时接触表面变化的启发，我们巧妙设计了滑块-滑轨机构作为指节，实现每个手指的收缩，从而在包络抓取模式下获得更优性能。其次，构建了可重构结构以拓宽所提出夹持器对物体尺寸的抓取范围。通过调整每个手指的构型和姿态，该夹持器可实现五种抓取模式。再次，所提出的夹持器仅由单电机驱动，却能够同时完成抓取和重构。最后，针对细长、薄壁和大体积物体开展了多种抓取实验，以评估所提出夹持器在实际场景中的性能，实验结果表明该夹持器具备卓越的抓取能力。