多孔質粉体の収縮を利用したUniversal Gripperの復元性能評価

管路形状が及ぼす影響

抄録

Contraction Universal Gripper based on porous granular material (CUG) is one of the universal gripper for multiple object handling. Compared with Universal Jamming Gripper with hard powder, CUG has an advantage on the fragile object because of the softness of the porous granular material. However the porous materials takes time to be expand to normal state, thus the repetability performance was the problematic in case of the robotic applications.In this study, we focused on the intake and outlet shapes of CUG. Specifically, CUG has an exhaust and intake ports with angles and shapes. Repetability performance of CUG was clarifiedby measuring the gripping force (jamming gripping force) due to the jamming transition. As a result, the repetability performance was improved by giving the intake and exhaust ports an angle.