剛体と柔軟体を含む複合物体把持に関する研究

―厄除団子製造時の把持動作解析と試作―

抄録

There are many examples of research, development, and practical application of robotic hands. There are various types of hands, such as hands for industrial products, hands for food, and hands for specific food. There are few examples of research on hands for grasping composite objects including rigid and flexible bodies. Therefore, this research aims to develop a hand that can grasp a composite object that including rigid and flexible bodies. We analyzed the grasping motion of a worker from the actual dango manufacturing process and defined the design requirements for the hand development. Based on the design requirements, a prototype hand was designed and fabricated.