Development of Tableware Transfer Robot Hand with Lock Function

Abstract

In the prior technology, many soft robot hands used in the food field open and close the hand by pressurizing air. As a drawback of the pressurization method, the film expands at the time of pressurization, and the film may be broken at excessive pressurization. Therefore, this paper uses the decompression method. In the decompression method, since the film acts in the direction of shrinking, the load on the film is small and a larger pressure can be applied. This can be expected to improve gripping force. Even if broken, it works in the direction of suction, so it is hygienic. In addition, since the soft robot hand has a jamming function, it is possible to manufacture a rigid hand while maintaining the flexibility of the soft hand.This is expected to stabilize the grip.