絞り機構を用いたグリッパの開発

抄録

This paper proposes the robotic gripper using diaphragm mechanism. Alignment of position and posture of parts is important factor for robotic grippers used in industrial field. Therefore, if the objects of various shapes can always converge to the same position / posture via a grasping motion, high efficiency of assembly task can be expected. By using the diaphragm mechanism, it is possible to always open and close the gripping area while maintaining a space of a shape close to a circle. Also the developed gripper is able to grasp cylindrical and cubic parts not only by a closing motion but also by an opening motion.