油圧タフ多指ロボットハンドの評価試験

抄録

We are developing a hydraulically driven tough robot hand having 4 fingers. This hand is designed as an end effector for the ImPACT dual arm Construction Robot, which is expected to be a powerful and mighty device working at a disaster site as well as in a general construction duty. The main feature of this hand is simplicity of the control system using only one pressure sensor, and only 6 valves. As a preliminary estimation we conducted a pinching and grabbing test with the hand installed in a single arm construction robot. This paper describes the outline and the test results of the hand. The results were almost satisfactory.