二層構造に基づくジャミング把持力と凹凸面吸着力を両立した万能真空吸着グリッパ

抄録

In this paper, double-layered Universal Vacuum Gripper (in short, d-UVG) is proposed for grasping various objects. The d-UVG is a vacuum suction cup based on the jamming transition phenomenon with two functional layers. First layer is used for grasping smaller object than the gripper based on vacuum forming method, and also protecting the membrane's damage from vacuum force that is one of the problems in the conventional UVG. Second layer is used for air-sealing for adhering uneven surface. We examined the d-UVG on several test pieces for evaluating its gripping performances and verify d-UVG’s concept and effectivities.