低摩擦アクチュエータを用いた冗長平行グリッパの性能評価と脆弱食品による把持実験

抄録

When grasping a fragile object, small grasping force and gripper compliance are required to avoid deformation and damage of the object. In this study, linear motor-based mechanism is used to achieve small gripping force and compliance without using force sensors. The linear motor mechanism has low friction and no reduction gear, so its back drivability is high. The robot hand consists of two linear motor mechanisms, a guide rail, and a frame. The thrust force can be controlled through a driver. By overlapping the strokes of the two mechanisms, the redundancy of the opening and closing motions can be achieved. Due to this redundancy, it is possible to adjust the position after grasping. Experiments were conducted on a hand prototype and small thrust force was confirmed. In addition, we attached this robot hand to a robot arm and conducted a grasping experiment using fragile object.