ダイカスト部品の製造自動化に向けたロボット指の形状設計

抄録

This research aims to automate the finishing task of a surface (e.g., deburring and buffing) in manufacturing die cast products. This task has been difficult for robots due to the complex shape of the products. To cope with the problem, we design a robot finger to grasp a die cast product stably in this paper. We prepare robot fingers that are able to grasp it in two sections to avoid some scattering points to finish in the product as a whole. Therefore we design and shape two types of robot fingers in consideration of a geometric principle of restraint. We verify the stability of these fingers through experiments with a dual arm robot.