無摺動式トーラス型伸展指機構

― 密集環境内における軟弱・脆弱対象物としての幼鶏体の抱擁的把持を目的とした効果器 ―

抄録

This research relates to the device and realization of No Sliding Torus Type Extension Finger Mechanism. In resent year, various bag type grippers have researched and developed. Bag type gripper can grasp various objects because it is able to adapt to the target objects. However, since friction occurs between the gripper and the object, it is difficult to grasp weak or fragile objects. Therefore, we report on the principle devised, realized(design, prototype), experiment using a torus finger gripper mechanism which can grasp objects without sliding.