しぼり作業をするロボットの試作

抄録

Human hands and fingers have several kinematic functions as grasp, push, pull, turn, swing and so on. Robot hands or fihgers with these functions have already been realized. However, there are no robot with hands being able to do the wringing operation, which has close connection with a textile industry. It is hoped to replace this operation into a robot because of a heavy task for a professional worker in the manual dyeing of a skein of yarn. The purpose of this paper is to construct a robot doing the dyeing and wringing operation, which is similar to that of the worker. This robot will operate at the first working stroke in the manual dyeing of a natural indigo which is a traditional dyeing in Japan.