果物収穫用ロボットハンド機構の研究開発

抄録

This paper introduces the mechanical design considerations of a robot hand for the harvesting of fruit. This robot hand uses a parallel link mechanism and feedback control. Due to the unique design, four claws are actuated using a single motor. The parallel link mechanism enables the robot hand to adapt to fruits of various sizes due to the unique trajectory of its claws. A release mechanism is included to facilitate independent movement of a single claw for increased adaptability. We show the effectiveness of the hand by harvesting fruit of various sizes. Because the robot hand is easy to use, it can aid in making farm work less strenuous for senior citizens. The paper is concluded with suggestions for future work.