To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig capable of deforming according to the shape of assembly parts. The soft jig is based on a jamming gripper used for robot manipulation as a general-purpose robotic gripper developed in the field of soft robotics. The soft jig has a flexible membrane made of silicone, which has a high friction, elongation, and contraction rate for keeping parts fixed. The inside of the membrane is filled with glass beads to achieve a jamming transition. The usability of the soft jig was evaluated from the viewpoint of the versatility and fixing performance for various shapes and postures of parts in assembly operations.

翻译：为了设计一个能够处理各种形状物体的通用组装机器人系统,我们建议一个软拼图,能够根据组装部件的形状进行变形。软拼图基于一个用于机械操纵的干扰控制器,作为在软机器人领域开发的通用机器人控制器。软拼图有一个由硅酮制成的灵活的膜,硅酮的摩擦、延缩率和缩缩率较高,使部件固定。膜内装满玻璃珠,以便实现干扰过渡。软拼图的可用性从装配操作中各种形状和形状的固定性能的角度进行了评估。