Vibration inspection using a high-speed robot hand and influence of grasping position and consideration by dynamics simulation

Abstract

Cell production is a very effective production method given the demand for a wide variety of products, but its automation requires robots that can handle a wide range of tasks. In this paper, we focused on the use of the versatile high-speed multi-fingered robot hand for vibration inspection, and considered the influence of the grasping position on the result of inspection by comparing the results of experiments and simulations based on the assumption that the experiments were conducted. From the results, it was confirmed that the grasping position has a significant influence on the inspection results and that there are points that should be considered in vibration inspection using the robot hand.