タコ模倣型グリッパを装着した産業用ロボットアームによる物体把持

抄録

We demonstrated picking up the objects using an industrial robotic arm with biomimetic octopus vacuum gripper. The robotic arm controlled press force and moving speed by teaching-playback method. The pressing force is constant by feedback control of robotic force sensor. We measured the acceleration of arm using 3-axis accelerometer and Arduino. The gripper can control the suction and change in flexibility. The volume of gripper decreased when the stiffness increased. The gripper can contact the object, because the robotic arm moved until the constant press force. The robotic arm with gripper can grasp a flat aluminum block, acrylic tubes, and water-filled aluminum laminated foil pouch. These results provide the industrial robotic arm with biomimetic octopus vacuum gripper is useful for the material handling.