吸着パッドにおける滑り検知を用いた搬送維持の研究

抄録

Suction pads such as vacuum pads or Bernoulli pads are used for pick-and-place tasks in the industrial field. When the object is conveyed at high acceleration with the suction pad, sometimes a drop occuers due to the acceleration exceeding the limit of contact force. We made a system to detect the acceleration limit during transfer by slip detection. We have verified experimentally whether the limit of contact force can be detected by sensing. We conducted an experiment to maintain transfer by reducing acceleration when partial slip was detected.