マルチタスクを前提としたソフトグリッパのモデル化と剛性設計

抄録

A soft gripper has the possibility to manipulate arbitrarily shaped objects by adapting its shape subject to the objects. The goal of this research is to develop a novel soft gripper which can manipulate plural objects simultaneously by one action. As the first step of this study, a soft gripper that can open and close by one action and that also can grasp plural object simultaneously is modeled, and its dynamic movements are simulated in order to investigate the effect of each joint stiffness to its motion. The stiffness parameters in the simulations are identified from the experiments. Through simulation results, it is shown that the desired final shape of the manipulator can be achieved using our model.