多指型ロボットハンドにおけるピッキングタスクの検討

抄録

The picking operation performed in the distribution warehouse is diverse in the size, shape, weight, etc. of the products stacked on the shelf, and the operation is complicated because it is necessary to change the operation depending on the object. Currently, suction-type robot hands that suck and grip like vacuum cleaners are mainstream, but mesh-like objects can’t be adsorbed. Therefore, we developed a multi-fingered robot hand that enables gripping of unknown shaped objects including different shapes and dimensional differences. The hand developed in this research includes a Shape-fitting mechanism that fits the finger according to the shape of the object, a cooperative link mechanism that can move multiple fingers simultaneously. and it includes new mechanism to change the arrangement angle of the fingers according to the shape of the object, or to change the distance between the fingers according to the size of the object. This makes it possible to grip objects with small volumes such as pens and erasers, thin flat objects such as books that could not be gripped stably in previous research, and mesh material objects that are difficult to grip with suction-type hands.