3P1-S05 Development of vacuum gripper imitating adsorption mechanism of octopus sucker : Evaluation of adsorption performance of gripper(Robot Hand Mechanism and Grasping Strategy (1))

Abstract

This paper described a vacuum gripper imitating octopus sucker. This gripper can absorb the flat, rounded surface since the flexible gripper has vacuum sucker. Moreover, this gripper can absorb using part of vacuum suckers without valve control, since the vacuum sucker has membrane, which is separated outside from gripper inside. The previous gripper has a problem that the pressed force in absorbing is high (6 N). In this study, the pressed force was decreased by the structure is improved. The maximum absorption force and pressed force of improved gripper were 23 N, 4.8 N, respectively.