不定形対象物把持のための2指ハンドとゴムシートを用いたロボットハンドの試作

抄録

We proposed a robotic hand using elastic sheets and openable two-fingered hand. This hand can grasp the objects by opening the fingers of robotic hand and pulling the elastic sheets. Because the sheets are flexible, the hand can grasp non-uniform shaped object. The grasping force is proportional to the tension of the elastic sheets. Therefore, the weight of object is larger, the grasping force is larger. We measured the grasping force of prototyped robotic hand. The maximum force was 50 N when the diameter of cylindrical object is 70 mm and displacement of robotic hand was 50 mm. When the diameter of cylindrical object is 40 mm and displacement of robotic hand was 24 mm, the elastic sheets slipped on the object. Finally, we try to transport some of the daily necessities using the prototyped robotic hand.