狭隘空間における ピ ッ キングタ スク のための吸着挟み込みハン ド の開発

抄録

Picking various objects in narrow space automatically is required for warehouse automation. In this paper, we propose the Suction Pinching Hand, which has two underactuated fingers and one extendable and foldable suction finger whose fingertip has a suction cup for picking various objects in narrow space. This hand can grasp objects in narrow space using the suction finger. In addition, it can grasp various objects stably using suction and pinch at the same time. The ability to grasp various objects stably of our hand is confirmed by tabletop experiments. We also compose a picking strategy of our hand in narrow space. We confirmed a robot can pick objects in narrow space with our hand and picking strategy.