きゅうりの箱詰め作業を目的とした接着レス薄型平面シェルグリッパの開発

抄録

In this research, a gluing-less shell gripper is proposed for packaging multiple cucumber simultaneously. The proposed shell gripper consists of multiple thin flat fingers which were constructed by a thin shell and a soft chamber. The flat finger can be pneumatically inflated for the purpose of grasping objects. The flat finger was fabricated by only one-time casting process without demolding and gluing operations. This makes the gripper easy to be fabricated and having a thin geometry. The durability and pressure resistance were tested, and packaging experiments were performed to demonstrate the effectiveness of the proposed shell gripper.