抄録
The purpose of this study is to develop a simple and practical handling system which can recognize, pick up and carry the object skillfully and quickly. We developed a compound pneumatic hand to pick up one by one objects which were stacked closely. This hand is composed of four soft grippers to grasp various types of object and an absorption pad to pick up one object. The soft gripper is made of silicone rubber and is driven pneumatically. Afl exible strain sensor was developed to detect a bending displacement of gripper. By installing it in the gripper, the hand can not only confirm the grasping of object, but also recognize the approximate size and stiffness of object at the moment when grasping. The hand is positioned quickly by three pneumatic cylinders. This paper describes the structure, operating principle and fundamental property of each component and how to search the position of object.
