軸方向伸展拘束型トーラスバルーン機構

抄録

We propose an axially-reinforced torus balloon mechanism that can grasp complex shape objects by wrapping and adapting its shape. Several soft grippers using a balloon have been proposed which consist of elastic rubber materials. However, since the traction force does not transmit efficiently due to its soft body, it had difficulty in grasping heavy objects. To solve this problem, we constructed a torus balloon that is axially reinforced by inextensible fibers. The fabrication method is presented, and the stress-strain property is measured of the torus membrane. A basic grasping test was conducted to show its effectiveness.