ジャミンググリッパを有する小型双腕ロボットの把持性能評価

抄録

In this paper, the grasping performance was evaluated for a dual-arm robot arm with a jamming gripper attached to the tip of the arm. The developed robot has dual arms with 3 degrees of freedom attached to the front of the opposing two-wheeled body. By deforming the jamming gripper according to the shape of the object, it is possible to grip objects with curved surfaces such as cylinders and discs that are normally difficult to grasp. From the experimental results, it was found that the grasping force is affected by the shape of the object and the gripping position. The maximum grasping force was 39.4N in the X-axis direction and 43.3N in the Z-axis direction.