柔軟物を把持する吸着グリッパの吸着力測定に関する研究

抄録

This paper described an adhesive force measurement of vacuum gripper imitating octopus for grasping flexible objects. The gripper with metal filter can grasp the several flexible objects of liquid pouch packages. The adhesive force of gripper was depend on the shape and stiffness of filter. Then, we proposed the measurement equipment for grasping flexible objects. We measured a peeling force between gripper and objects, since the low repeatability of fixing the flexible objects. The peeling force was measured using a hand pressing machine with load cell and stopper. The peeling force was 10 N using a gripper with metal filter. Moreover, the average of sample standard deviation was 0.2 N. The proposed measurement method has higher repeatability than the previous method of fixing objects.