Abstract
The purpose of this study is to achieve opening and closing operations to various lids of containers by robot arm. This paper aims to find an adequate method to achieve opening operation to a lid of Japanese tea caddy by robot arm. We describe a comparative evaluation of two methods of opening the lid: by just pulling up the lid and by screwing the lid. We evaluated opening ease of the lid by comparison of the maximum pulling up forces for opening and the product values of average pulling up force and time during opening the lid. We found that the force caused by the decrease of the internal pressure of the container gives most influence to the force for opening the lid. In addition, we clarified that the lid can be opened with smaller force because screwing for opening the lid suppresses decrease of the internal pressure. We examined these facts through theoretical analysis and experiment.
