高速ロボットハンドを用いた加振検査と把持位置の影響並びに動力学シミュレーションによる考察

抄録

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.