2023 Volume 41 Issue 1 Pages 61-71
In recent years, the use of robots has been considered due to the labor shortage. In this situation, the utilization of soft robot grippers that can grasp various objects is expected in the industrial world. The purpose of this study is to develop a soft robotic hand with an adhesion pad attached to a jamming gripper to enable grasping of flat and complex shaped objects. The gripper we have developed can be switched between a jamming gripper and a suction pad by switch control. This makes it possible to perform grasping according to the object. We applied a load to the gripper and conducted a gripping experiment on a complex-shaped object or a flat object. As a result, the gripping success rate of the jamming gripper increased as the applied load increased, and a stable gripping success rate was obtained on the adhesion side. Therefore, it can be seen that the gripper in this study satisfies the sufficient performance.
