抄録
This paper discusses a shaping strategy of a rheological object. We first introduce a seven-nodes viscoelastic model for approximating the outline and the dynamic characteristics of the object. Then, we show a shaping method of the object's outline, where the proportion of the input axis to another one, which is perpendicular to the input one, is controlled by using a parallel jaw gripper. Based on the plastic deformation distribution for the integrated input stress, the proposed method can actively manage the object's final outline. In addition to the contribution on simplifying the gripper's degree of freedom, this method has an advantage that the handling time is drastically reduced, compared with the position based passive method. We finally show the experimental results for confirming the validity of the proposed method.
