Robotic grasping plays a pivotal role in real-world interactions for robots. Existing grippers often limit functionality to a single grasping mode-picking or suction. While picking handles smaller objects and suction adapts to larger ones, integrating these modes breaks scale boundaries, expanding the robot's potential in real applications. This article introduces grasping modes transformable soft gripper capable of achieving amphibious cross-scale objects grasping. Despite its compact and fully scalable design (20 mm in diameter prototype), it morphs into two configurations, gripping objects from 10% (2 mm) to over 1000% (200 mm) of its size, spanning a vast 100-fold range. To enhance its grasping efficacy, we derived theoretical analytical models for the two distinct grasping modes. Subsequently, we present a detailed illustration of the gripper's fabrication process. Experimental validation demonstrates the gripper's success in attaching or detaching everyday items and industrial products, achieving high success rates in both air and underwater scenarios. Amphibious grasping and card manipulation demonstrations underscore the practicality of this transformative soft robotics approach.

中文翻译：

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可变形的软抓手：将抓取和抽吸结合在一起，用于水陆两用跨尺度物体抓取。


机器人抓取在机器人的实际交互中起着举足轻重的作用。现有的抓手通常将功能限制为单个抓取模式拾取或抽吸。虽然拾取处理较小的物体，而吸力则适应较大的物体，而集成这些模式打破了秤的界限，扩大了机器人在实际应用中的潜力。本文介绍了能够实现水陆两栖跨尺度物体抓取的可变形软夹持模式。尽管采用紧凑且完全可扩展的设计（直径为 20 毫米的原型），但它可以变形为两种配置，抓取从其尺寸的 10% （2 mm） 到 1000% （200 mm） 以上的物体，范围扩大了 100 倍。为了提高其抓取效能，我们推导出了两种不同抓取模式的理论分析模型。随后，我们将详细介绍抓手的制造过程。实验验证表明，该夹持器在连接或拆卸日常用品和工业产品方面取得了成功，在空中和水下场景中都取得了很高的成功率。两栖抓取和卡片操作演示强调了这种变革性软机器人方法的实用性。