正負の曲率に対して非対称な膜剛性を有するグリッパ機構

― 把持対象物への形状適応性を高めるメカニズムの原理創案 ―

抄録

To grasp various objects, pushing an elastic body such as a flexible membrane to the object and hold its shape in a deformed state is effective. And to hold object strongly in this grasping method, the shape adaptability must be improved. However, it is difficult for conventional shape-fitting grippers to adapt to the object shape adequately when push it because the stiffness is the same regardless of the curvature direction. In this paper, we propose a method to improve shape adaptability by providing the elastic body with asymmetric stiffness that is positive or negative for the curvature. In addition, we conducted the simulation of the proposed principle, and confirm whether the positive-negative asymmetric stiffness changes the motion of the gripper.