ボールキャッチのための高速把持機構を有する１自由度バネ作動式低コストロボットハンド

抄録

Robot manipulators that close sufficiently fast to catch objects are often expensive and mechanically complicated. We present a low-cost robotic manipulator that can close its spring-loaded grippers near instantaneously as well as in a slow and controlled manner. We confirm experimentally that the speed of the manipulator is sufficient to catch objects. The design is based on a 3D-printable prosthesis with a total cost below 700 USD, and can be extended to other 1-DOF grippers. The design contributed by this paper is free and open source.