Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
In this paper, we proposed the Universal Vacuum Gripper with active deformation (in short UVG). UVG is a vacuum adhesion cup filled with powder in elastomar membrane which adhere to uneven surface. However, the uneveness like deep step is hard to adhere by the UVG. In order to improve the adhesion performance of the step, we focused on the active deformation mechanism based on the negative pressure.In order to clarify the deformation condition, two type of active deformable adhesion gripper were developed; adhesion cup and UVG type. As the first step, we examined the adhesion cup type for clarifying the capability of the deformation based on the negative pressure. As a result, the thickness of the membrane is the key aspect for the deformation. Thus, the experiments were conducted against UVG with different thickness. We also evaluated the effect with or without powder inside the membrane.
