空隙を通過可能な膨張型ハンドの開発

抄録

In rescue work, robots are required to pass through narrow space for exploring survivors in rubble. Besides, if robots handle objects after passing narrow space, ability of explorations increase. In this paper, we propose the hand which grasps objects after going through narrow space. We develop the hand using the sheets in order to use validating the stiffness of the sheets. This hand passes narrow space with using thinness and flexibility of the sheets and grasps objects with using high stiffness of the bent sheets. We also develop the parallel link using the sheets that passes narrow space. The hand approaches to objects after passing narrow space using the parallel link. We confirmed the robot grasped objects after going through narrow space.