能動変形可能なジャミング膜グリッパ機構

―挿入除去作業用扁平型エンドエフェクタの索状プラットフォームとの統合―

抄録

This research relates to the device and realization of active deforming jamming membrane gripper. When mount a gripper on rescue robots, it is difficult to place a heavy object on the robots. Therefore, it is difficult to mount multiple grippers on the robots. Our team have developed jamming membrane gripper which it is possible to push button and pick up a object. Other request tasks include lifting objects. So, we thought that deform the gripper thinly. After that, insert the gripper into a gap of objects. These operations allow the gripper to lift the object. In this paper, we report about the concept of the deformable jamming gripper, the realization of it and the experiment with real model.