Performance Indices of Jamming Gripper

-Consideration of Performance Indices Focused on Friction Grasping-

Abstract

In recent years, robot technologies for handling a wide variety of products have been attracting attention in factory automation, especially soft robotic grippers. Among them, universal jamming grippers have been the subjects of much researches and developments. However, a unified experimental method has not been established in the past, and it has been difficult to systematize the gripping performance based on the parameters of jamming grippers. In this study, we conducted an analysis of variance to clarify the contribution rate of each parameter to the gripping force.