双配置型構造により大変形可能な袋グリッパ機構

抄録

This paper proposes a jamming gripper mechanism capable of large deformation by double symmetric arrangement. Several soft grippers have been proposed that can grasp complex shape objects by pressing the gripper to the object and passively deform it. However, it requires large pressing force and small deformation can be realized. Thus, we arranged the two grippers symmetrically to make the internal granular material easy to move between the grippers of each other. We conducted a grasping experiment to verify the effectiveness of the proposed gripper.