{"ID":2853436,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.16524","arxiv_id":"2510.16524","title":"Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping","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.","short_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...","url_abs":"https://arxiv.org/abs/2510.16524","url_pdf":"https://arxiv.org/pdf/2510.16524v1","authors":"[\"Haokai Ding\",\"Zhaohan Chen\",\"Tao Yang\",\"Wenzeng Zhang\"]","published":"2025-10-18T14:43:09Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}