Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
In this study, we proposed a self-weight forceps type gripper which is applicable to bag-shaped flexible heavy objects such as garbage bags. We have achieved high gripping performance for bag-shaped flexible heavy objects by using a self-weight type gripping mechanism and a forceps-type gripping surface. In addition, we formulated the gripping force and verified its effectiveness by experiments. The contributions of this paper are the following three points. The first is that a simple mechanism has achieved high gripping performance. The second is that complicated force control is unnecessary. And finally, the required power consumption for gripping is suppressed by using the weight of the object.
