手首回転機構を有する1自由度ロボットグリッパの開発

抄録

This study proposes the underactuated robotic gripper that achieves the grasping and wrist twisting motions via a single actuator. The gripper has the function to switch the motions by the contact between the finger and an object. The wrist twisting motion can be activated by the switching, which is called self-twisting function. By the gripper mechanism, the gripper realizes the special grasping mode, “Twist grasping”, that allows the wrapping of a flexible thin object around the fingers of the gripper. Twist grasping provides the high payload according to the number of wraps. We present the gripper design, control methodology of the gripper, and analysis of the twist grasping. The performance of the gripper is evaluated through the experimental validations.