吸着型グリッパのための適応機構の開発

抄録

In this study，a mechanism for a gripper that uses a wire-driven two-degree-of-freedom manipulator to perform grasping by suction at the suction part attached to the tip，without using image processing is developed and evaluated. To achieve this，a torque equation for each joint to align the suction part with the grasped object is derived. To satisfy this equation，non-circular pulleys are attached to each joint. We conducted experiments on the grasping and suction operations of a suction-type gripper equipped with the necessary functions for the gripper. Finally，we demonstrated that it operates well in many cases within its range of motion.