A Soft Jig Deforming According to Shape and Behavior of Assembly Parts

Abstract

To achieve a general-purpose assembly robot system that can handle various shaped objects, we propose a soft jig that deforms according to the shape and the behavior of assembly parts. The soft jig is based on a jamming gripper used for robot manipulation as a general-purpose robotic gripper developed in the field of soft robotics. The usability of the soft jig was evaluated from the viewpoint of versatility for fixing parts in assembly operations.