Design and Analysis of Self-Deployable Robotic Gripper for Rapid and Large-Scale Object Grasping

Deployable robotic grippers play a critical role in large-scale object grasping tasks. This paper proposes a scissor mechanism-based deployable robotic gripper with four identical deployable fingers, each made up of eight polar units connected end-to-end. The gripper achieves self-deployment by integrating elastic units, allowing it to quickly switch from a folded configuration that facilitates storage and transportation to a deployed configuration suitable for grasping large-scale objects. This self-deployment design simplifies the driving system and reduces overall weight. Experiments involving the grasping of large-scale objects such as a cylinder, a cube, and a basketball have demonstrated the gripper's excellent performance in shape adaptability, deployment speed, and grasping capability. The proposed design shows great potential for large-scale object grasping and other scenarios requiring rapid and efficient operations.