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arXiv · 2510.16524

Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping

Haokai Ding·Zhaohan Chen·Tao Yang·Wenzeng Zhang
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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.

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Haokai Ding, Zhaohan Chen, Tao Yang, Wenzeng Zhang. 2025-10-18. Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping. https://doi.org/10.1109/case58245.2025.11163785

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