事前に壁面環境の情報を必要としない吸盤内負圧減衰の実時間予測

抄録

Air inflow of suction cups is unavoidable. Therefore, prediction of suction cup's negative pressure decrement is important to guarantee safety of its attachment. However, the previous prediction method needed to measure of air inflow speed function before attaching the suction cup. This study proposes a prediction method of negative pressure decrement without measuring the air inflow speed function in advance. The air inflow speed function is estimated based on the pressure which is measured in attachment state of the suction cup. The proposed prediction method is verified by experiments. The experiment results showed that the prediction results close to real pressure value.