アイリス機構を用いた円錐型ロボットハンドの提案

抄録

Most of the robot hands difficult to deal with complex objects and control that many actuators due to complex mechanism. For this reason, inferior drived robot hand focused that a small number of actuators and high versatility to accommodate various shapes. On the other hand, robot hands using the jamming transition phenomenon are being developed. However, these are difficult to model and analyze the basic phenomenon, and aren’t suitable for precise control. We proposed a robot hand using an iris mechanism that made it possible to hold small and flat objects to large objects by making the blade shape conical and using a fin grip at the blade tip. We verified its effectiveness by experiment.