飛び移り座屈を利用した軽量ソフトグリッパの開発

第4報　把持対象の多様化

抄録

Soft grippers have attracted attention as a method that can grasp objects of different shapes, sizes, and hardness with a simple configuration, and many examples have been proposed. Although some of the previous studies have shown that the soft gripper can perform enveloping grasping, which can distribute the load when grasping with a large contact area, there are structural limitations to this method. In this study, we propose a soft gripper that can open and close gripping parts of various structures with a simple configuration. The proposed soft gripper opens and closes by the snap-through-buckling that occurs in the actuator part on the hemispherical shell. This makes it possible to simplify the structure and maintain the open or closed state of the gripper.