多孔質粉体の収縮を利用したJamming Gripperの提案

抄録

We propose a novel Universal jamming Gripper, called Contraction Universal Gripper, in short CUG. CUG is the robotic gripper with the porous granular materials as filling material of UG. Porous granular materials is a powder containing bubbles continuously. Since it's substantially flexible, it can grasp the smaller objects than conventional UG. One of the advantages of CUG is the higher contraction ration than UG. We also propose a novel vacuum gripper consist with skirt part and CUG. It can adsorb the flat object which is difficult to grip by UG. Moreover, both adsorption and gripping is achieved by only vacuuming the inside of CUG. Thus CUG with skirt part is the novel vacuum sucker which complement both UG and vacuum sucker.