1A1-K03 自由曲面の把持可能なフレキシブル吸盤型ハンドの開発(ロボットハンドの機構と把持戦略(1))

抄録

This paper proposed the robotic hand for gripping the various shaped and postured objects. This vacuum gripper has the membrane type suction cups which can be controlled an adsorption force by the pressure of gripper inside. This gripper can hold an object with steps, since the gripper has membrane type suction cups. Moreover, the adsorption force is stable, because the dust is not jammed in the exhaust flow channels. Using Polydimethylsiloxan for the structure, the gripper can hold a curved object. The maximum adsorption force of the gripper was 20 N (2.1 kgf). The gripper lifted up the bottle (mass: 0.5 kg, curvature radius: 38 mm), which was leans at 30 degrees before gripping.