ロボットハンドに把持されたハンバーグの変形のシミュレーション

抄録

In order to optimally grasp a hamburger steak with a three-finger robot hand, we simulate how the grasped hamburger steak is deformed. Young's modulus of the hamburger steak was examined using a digital force gauge, and the deformation of the hamburger steak was simulated using the examined values. In the simulation, the position of the fingers of the hand was moved in order to compare the difference in deformation depending on the grasping position. The method of measuring Young's modulus of hamburger steak using a digital force gauge is not limited to hamburger steak, so it can be used to measure Young's modulus of other flexible foods.