Underactuated Gripper Mechanism: Function Extraction of Suction Feeding

- Realization of Function of Drawing Objects by Negative Pressure -

Abstract

"Biomimetics" or "Biomimicry" that imitates the function and structure of living organisms has attracted attention. It is thought that the living organisms got a kind of optimum structure and form in natural selection. Engineering imitation of this points is an effective method for realizing things with certain ability and performance from nature.

In this paper, the authors focus not on the appearance and structural imitation of living things but on the work and abilities of the structure, and pursue the engineering essence. In other words, we propose " Function Extraction " that develops into development of new mechanism by extracting functions. As an example of this research, we focus attention on Suction Feeding found in fish and whales and try to extract its function. We will utilize it for the gripper mechanism and verify the effectiveness of the function in the experiment using prototype one.