Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In this paper, we propose a cap tightening method combining redundant parallel-driven soft fingers and a 4DOF SCARA robot. First, the degree of freedom of redundant parallel-driven soft fingers required for cap tightening work was shown from the problems of combining a soft hand and a robot arm. Next, the operation procedure of the cap tightening operation was described. Furthermore, we proposed a system combining redundant parallel-driven flexible fingers and a 4DOF SCARA robot, and controlled the position and orientation of the cap with respect to the body by visual feedback control. The control performance is shown by experimental results.
