劣駆動ハンド uGRIPP の握力把持力解析

(Underactuated Gripper for Power and Precision Grasp)

抄録

This study analyzed the power grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand equipped with three underactuated fingers. It can grasp objects in power and precision grips utilizing its underactuated mechanism. In the previous study, we proposed an analytical method to derive the relationship between the precision grip force and the actuation force on the basis of the principle of virtual power. The present study propose a method for analysis of the power grip force based on the finger linkage model. Furthermore, we measured the actual power grip force experimentally, and the results prove the validity of the method.