ジャミンググリッパを有する4自由度双腕ロボットの把持特性

抄録

In this paper, the grasping performance was evaluated for a dual-arm robot arm with a jamming gripper. The dual arm robot equipped with a jamming gripper at the end of the 4 degrees of freedam arm has been developed. The gripper and the dual arm enable the robot to grasp an object independent of its position and shape. From the experimental results, using resin beads (particle diameter 0.3mm) as the internal powder, stable gripping force could be obtained regardless of the angle of the gripper. In addition, the robot’s ability to work could be verified by grabbing objects directly below or in front of it.