Gripping Force Characteristics of Jamming Gripper by Pressing Condition and Membrane Friction Coefficient

Abstract

In recent years, robots are expected to play an important role in factory automation. Robots working in factories adapt to various shapes by changing end-effectors. However, in the modern era of advanced high-mix low-volume production. it is desirable to reduce time and costs on replacing the end-effectors. Therefore, soft robot hand need to grip targets of various shapes quickly and accurately. However, many of parameters are inconsistent and insufficient in previous gripper experiments. In this study, we measure the grasping force of the Universal Vacuum Gripper by varying the parameters and evaluate the performance and verify the necessary parameters.