The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2023
Session ID : 2P1-B08
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Development of lifting-type robot hand and automation of rotor gripping motion
*Junpei SUZUKIGenki ISIGUROYasumoto IMAITakayoshi YAMADAJunya SATOShota AONOToshiki HAYASHI
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Abstract

This paper describes robotic assembly of gear motors. The gear motors consist of gear, stator, rotor, and so on. We develop a lifting-type robot hand for the rotor. The hand is equipped with servo motors, a force sensor, and an RGB-D camera. Template matching and affine transformation are used to recognize the angle of rotor. In experiments, the rotor is recognized by the image sensor, held by the hand, and checked by the force senser.

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© 2023 The Japan Society of Mechanical Engineers
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