抄録
In Japan, the labor power is decreasing by the aging population and lower birthrate. In production fields, there is a big demand for robots to compensate for reduced manpower. To introduce them lead to such advantages as more efficient production, high quality and improvement of working conditions. Various robots have already worked in the factories. However, the functions performed by them are limited and difficult to adapt to different environments because most factory robots are only controlled by sequence control. To solve this problem, We used the pneumatic robot arm driven by pneumatic actuators. The pneumatic robot arm has 2 DOF and grasps an object from various directions because it is like a human hand. These advantages could relieve constraint condition for the posture of robot hand tip part. Therefore, We proposed grasp posture determination method that material handling system was divide into industrial robot and pneumatic robot arm. We used potential method to decide all joints angles of my system by desire position. We determined each joint angle of industrial robot and pneumatic robot arm in stages. Finally, by performing the specified task, We could verify my determined grasp posture and the validity of proposed grasp posture determination method.
