コンプライアンス機能を有するカボチャ皮むきロボットの開発

抄録

This study develops a pumpkin peeling robot with a compliance mechanism. The robot consists of three servo motors, which are a roll axis motor, a yaw axis motor and a motor for chucking and rotating a pumpkin. And a very simple compliance mechanism without using any force sensor is realized by a contact switch and a spring element between the peeler and the robot arm. The compliance mechanism can keep the peeler contacting with the pumpkin surface with strong roughness. This paper shows the structure of the robot arm, the pumpkin chuck and the simple compliance mechanism, and explains the control system and procedure of the peeling operation in detail.