極限環境下で作業可能な災害対応ロボットの開発 （第 35 報：多様なバルブ・スイッチおよび工具に対応した指・手掌部の設計）

抄録

We propose a design method for fingers and palm of the disaster response robot WAREC-1R to operate various valves, switches and tools. Effective layout and shape of fingers and palm to manipulate target objects are designed by modeling the objects based on the MIL standard. With the developed end-effector, it is possible to grip an electrical drill with allowable external force of 44 N, handle the switches (push, rotary, knob-type rotary, key) in maximum and minimum size of MIL standard and operate valves with various handle diameters in two ways: palm grip and fingertip grip.