振動ブラシを内蔵した万能真空吸着グリッパによる物体操作

抄録

Robot competitions of the manipulation technologies were got the attentions, such as Amazon Robotics Challenge or World Robot Summit. Especially, robot grippers for grasping many kinds of products are focused. Universal Vacuum Gripper [1] (hereinafter referred to as UVG) is one of the universal gripper, which is a vacuum pad with deformable lip part composed of an elastomer film and powder. UVG adhere the uneven shaped objects by its free-deforming lip, because the powder particles within the elastomer film move freely. However, the shape of the lip part is changed each time of its grip, and the attitude of the grasped object is not constant, thus the posture accuracy of the gripped object is a problematic. Therefore, in this research, in order to manipulate the deviation of the posture, novel UVG based on vibration brush is developed and evaluated its performance.