抄録
We propose a robot hand mechanism for sorting construction byproducts on a belt conveyor. The byproduct that cannot be grasped is manipulated for pushing by the tilt bumper. In order to avoid getting over the thin byproducts, it has a passive slider. In order to avoid lateral missing of the byproducts during the pushing action, it also has two ribs on bumper side. The bumper also has a tilt function as a safety device to avoid the overload. Graspable objects are grasped between two claws and the bumper. If there are other byproducts in the path, it can be avoided by grasping it and lifting it into the air.
