形状記憶ゲル製多指型ロボットハンドを有する双腕ロボットシステムの開発

市田 尚也; 西村 健汰; 千代 恭兵; 山野 光裕; 安田 寿彦; 西岡 靖貴; 宮 瑾; 古川 英光; 熊谷 充彦; 多田隈 理一郎

doi:10.1299/jsmermd.2016.2P2-14b3

2016

Session ID : 2P2-14b3

DOI https://doi.org/10.1299/jsmermd.2016.2P2-14b3

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 08, 2016 - June 11, 2016

Development of a Dual-Arm Robot System with a Multi-fingered Robot Hand Made of Shape Memory Gel

Naoya ICHIDA, Kenta NISHIMURA, Kyohei CHISHIRO, Mitsuhiro YAMANO, Toshihiko YASUDA, Yasutaka NISHIOKA, Jin GONG, Hidemitsu FURUKAWA, Mitsuhiko KUMAGAI, Riichiro TADAKUMA

Author information

Naoya ICHIDA
The University of Shiga Prefecture
Kenta NISHIMURA
The University of Shiga Prefecture
Kyohei CHISHIRO
The University of Shiga Prefecture
Mitsuhiro YAMANO
The University of Shiga Prefecture
Toshihiko YASUDA
The University of Shiga Prefecture
Yasutaka NISHIOKA
The University of Shiga Prefecture
Jin GONG
Yamagata University
Hidemitsu FURUKAWA
Yamagata University
Mitsuhiko KUMAGAI
Yamagata University
Riichiro TADAKUMA
Yamagata University

Keywords: Robot Hand, Soft Material, Shape Memory Gel, Dual-Arm Robot, 3D Camera

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

This paper proposes a dual-arm robot system with a multi-fingered robot hand made of shape memory gel. The system includes robot hands, robot arms and a 3D camera to grasp various objects. The shape memory gel can be deformed at high temperature and the hand is designed so that various shapes such as a spoon-like shape, a fork-like shape can be realized. The deformation of the hand is realized by two 6-DOF robot arms. The 3D camera is used for the measurement of the objects and the robot hands. The robot system is under development and a simple example of the motion using the robot system is presented.

Corresponding author

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