空圧式ゴムバンドグリッパの改良

―柔軟物の把持とドアノブの回旋動作―

抄録

A rubber-band gripper that can grasp soft objects, such as tofu, without deforming them was improved. The improved gripper consists of four flexible actuators that shorten by expelling internal air. The gripper gently wraps around an object by controlling the vacuum pressure of each actuator. An attachment was also developed for the gripper to be mounted on a robot arm. The gripper, together with the attachment, can hold heavy objects and rotate doorknobs, which requires torque.