3P1-S06 Development of Vacuum Gripper with valves to open by contact : Gripping and transporting a flat plate that does not depend on the area by a single gripper(Robot Hand Mechanism and Grasping Strategy (1))

Abstract

This vacuum gripper has the normally close valves opened when the gripper contacted to the object. This gripper can absorb the various shaped flat board, since the gripper absorbs only the contacted area of object. The previous gripper has high pressing force, because Young's modulus of valve was high. In this paper, Young's modulus was decreased using silicone (KE-1282) for valve structure. The experimental absorption force and pressing force were 0.51 N and 0.23 N, respectively. The absorption force of this work was 1.3 times higher than the previous gripper, since the pressing force was 0.3 times. This gripper absorbed the object using part of valves.