ユニバーサルグリッパによるインハンドマニピュレーション

―二層構造のユニバーサルグリッパを用いた圧力分布制御―

抄録

Jamming grippers utilize the jamming transition phenomenon and can grasp objects by simply adjusting the negative pressure, regardless of the object's shape or posture. However, in order to place the object to be grasped in a given position and posture, a gripper, sensing, and jig for re-holding are required accordingly. A gripper that can manipulate the grasped object in the hand would solve the aforementioned problems. In this study, we propose a two-layer structure of a universal gripper to realize in-hand manipulation with a universal gripper. We also attempt to control the position and posture of the grasped object by controlling the pressure distribution using the two-layer structure of the universal gripper. This paper outlines the two-layer structure of the universal gripper, presents the concept of in-hand manipulation by pressure distribution control, and reports on the experimental situation with the developed gripper.