Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Suction pads such as vacuum pads or Bernoulli pads are used for pick-and-place tasks in the industrial field. We propose six axis contact force constraint models of suction pad from measurement values. Models are able to determine acceleration limit to convey objects. With this proposed models, we aim at high speed conveyance of objects. The three dimensional contact force models are defined by contact limit force based on suction force and friction force of pads. We measured contact force limit of pads by experiment and confirm the validity of the models.
