フリークライミングロボットのための鉤爪型ロボットグリッパーの把持特性解析

抄録

This paper presents the gripping characteristics of a passive spine gripper for multi-limbed free-climbing robots in extreme terrain. Although the gripper is mechanically-simple and efficient, its gripping mechanism needs to be clarified towards an optimal design. The characteristics were experimentally investigated by changing design parameters: finger number. finger length, and spine attachment angle on the finger. In the experiments, we evaluated the maximum pulling force when the gripper holds the irregular object. The comparative results showed that a larger number of the finger and long fingers provide better performance in the near-vertical pulling conditions. In addition, the result confirmed that the finger located on the opposite side of the pulling force largely affects the performance in the near-horizontal pulling conditions.